Chameleon Annotation and Meta data
The annotations file is a csv format text file with a one-line entry for each tracked object visible in each output image. Objects are tracked by category and subcategory as specified in the simulation template used for the simulation run. If an object category is not being tracked there will be no entries for it in the annotations file.
Some of the entries may be linked to licensed features; if an entry is not present, check your license conditions.
| Name | Description | Type |
|---|---|---|
| idx | Unique id for every entry in a dataset. Contiguity is not guaranteed. | integer |
| unique_id | Unique id for every instance of an object. This is used to train object trackers. Integer id can be any value, but must be unique to that object instance for every appearance of that object instance in the dataset. The id persists only within a simulation run and is not guaranteed to be the same on subsequent runs. This value is used as the mask id value in the mask output file if one is being output. |
integer |
| parent_id | Unique id of the parent object of this body part. zero if this is not a body part. The id persists only within a simulation run and is not guaranteed to be the same on subsequent runs. |
integer |
| cat_id | Globally unique category integer value starting at 1 (ONE). 0 (ZERO) is RESERVED. Object categories are assigned when assets are created (outside the simulator). |
integer |
| cat_text | Unique text descriptor for each category integer value. | string |
| subcat_id | Locally unique sub category index starting at 1 (ONE). 0 (ZERO) is RESERVED. Id numbers are unique within the relevant category. | integer |
| subcat_text | Text descriptor for subcategory. Unique for each subcategory. | string |
| Name | Description | Type |
|---|---|---|
| cam_x_pos | World space x position of camera in metres from origin. | float |
| cam_y_pos | World space y position of camera in metres from origin. | float |
| cam_z_pos | World space z position of camera in metres from origin. | float |
| cam_x_rot | Rotation of camera around x axis in degrees. | float |
| cam_y_rot | Rotation of camera around y axis in degrees. | float |
| cam_z_rot | Rotation of camera around z axis in degrees. | float |
| cam_FOV | Camera field of view in degrees. For angles wider than 100 degrees a special purpose spherical camera should be used. | float |
| cam_height | Height of camera from ground in meters. | float |
| cam_pitch | Camera pitch in degrees -180 to +180. Positive is down. Zero is straight ahead. |
float |
| cam_roll | Camera roll in degrees -180 to +180. Positive is clockwise. No roll (flat) is zero. |
float |
| cam_yaw | Camera yaw in degrees -180 to +180. Positive is to the right. Zero is straight ahead. |
float |
| Name | Description | Type |
|---|---|---|
| img_width | Image file width in pixels. | integer |
| img_height | Image file height in pixels. | integer |
| img_filename | Name of image file that contains this object. | string |
| mask_filename | Name of object mask file. | string |
| distance_filename | Name of object distance file (i.e. pixel accurate radial distance from camera. |
string |
| segment_filename | Name of object segmented image file. | string |
| normal_filename | Name of object surface normals file. | string |
| Name | Description | Type |
|---|---|---|
| vel_x | Relative to camera velocity. X component. Positive is to right of camera. |
float |
| vel_y | Relative to camera velocity. Y component. Positive is down. | float |
| vel_z | Relative to camera velocity. Z component. Positive is away from camera. |
float |
| Name | Description | Type |
|---|---|---|
| pos_x | World space position x component. | float |
| pos_y | World space position y component | float |
| pos_z | World space position z component | float |
| face_x | World space facing direction x component. | float |
| face_y | World space facing direction y component | float |
| face_z | World space facing direction z component | float |
| eye_left_pos_x | World space position of the left eye x component | float |
| eye_left_pos_y | World space position of the left eye y component | float |
| eye_left_pos_z | World space position of the left eye z component | float |
| eye_left_x | World space left eye facing direction x component | float |
| eye_left_y | World space left eye facing direction y component | float |
| eye_left_z | World space left eye facing direction z component | float |
| eye_right_pos_x | World space position of the right eye x component | float |
| eye_right_pos_y | World space position of the right eye y component | float |
| eye_right_pos_z | World space position of the right eye z component | float |
| eye_right_x | World space right eye facing direction x component | float |
| eye_right_y | World space right eye facing direction y component | float |
| eye_right_z | World space right eye facing direction z component | float |
| Name | Description | Type |
|---|---|---|
| box_x1 | 1st X (left of 2nd X) in screen resolution coordinates. 0 is at left. | float |
| box_y1 | 1st Y (above 2nd Y) in screen resolution coordinates. 0 is at top. | float |
| box_x2 | 2nd X (further to right than 1st X) in screen resolution coordinates. Max X is at right. |
float |
| box_y2 | further down than 1st Y) in screen resolution coordinates. Max Y is bottom of screen. |
float |
| cube_height | Height of object when object is upright from bottom to top (meters). | float |
| cube_width | Width side to side of object when object is upright (meters). | float |
| cube_length | Length from front to back of object (meters). | float |
| cube_dist_x | Distance from camera center to object center (meters). X component of camera forward. Positive is to the right. Zero at center. |
float |
| cube_dist_y | Distance from camera centre to object centre (meters). Y component of camera forward. Positive is down. Zero at centre. |
float |
| cube_dist_z | Distance from camera center to object center (meters). Z component of camera forward. Positive is forward. Zero at camera. |
float |
| cube_dist | Distance from camera center to object center (meters). | float |
| cube_alpha | Degrees -180 to +180. Pose angle relative to camera forward. Deflection. Positive is to the right. |
float |
| cube_beta | Degrees -180 to +180. Pose angle relative to camera forward. Roll. Positive is clockwise. |
float |
| cube_gamma | Degrees -180 to +180. Pose angle relative to camera forward. Inclination. Positive is down. |
float |
| Name | Description | Type |
|---|---|---|
| tags | String containing comma separated list of tags. Note that this string must be enclosed in double quotes. |
string (JSON) |
| augmented | Denotes whether the img_filename was generated by data augmentation. Default is 0 (ZERO) = NOT augmented. |
integer |
| subset | Denotes to which part of a dataset this object belongs. 0 for training, 1 for validation, 2 for test. Default is -1 (MINUS ONE) = unassigned to any subset. |
integer |
| used | Denotes whether an object is being used for a dataset. Default is 1 (ONE) = object will be used. This field is useful to mask out objects that will not be used during particular tasks. |
integer |
| seg_color | Segmentation colour of the object. | string |
| seed | object Seed, valid only when some randomiser has been used to generate the object such as for config actors |
integer |
| source | Source of data. For Highwai Simulator data, it's 'Highwai X.X' where X.X if the HAFS spec version. |
string |
| notes | Human readable notes field for each entry. Not used by software. | string |
| time_code | Absolute real-world time (UMT) as a string, YYYY-MM-DD-HH-MM-SS-NNNNNNNN, N=fraction of second. | string |