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Welcome to scale Lidar Toolkit’s documentation!

• Scale AI Lidar Toolkit

Load raw lidar data

• Preparing Your Data
  • Do you have your data ready?
• Data Structure
  • Cameras
  • Point Cloud
  • Device Pose
• Loading Your Data
  • Create Scene Function
  • Loading and Calibrating Cameras
  • Setting up Device Poses
  • Loading Point Clouds
    • Ego Coordinates
    • World Coordinates
    • Transform All Frames Relative to First Frame
  • Radar Points
• Debugging your data
  • Validate your data
• Task Creation
  • S3
  • Scale Api Key
  • Template
  • Create the Task
• Final Thoughts and Tips
  • Extra tips
  • My Data Still Looks Bad

Debugging lidar data

• Debugging Lidar Data
  • How to use the lidar debugger
  • Aggregated view
• Camera Debugging
  • Debug Camera Extrinsic
    • Lidar Debugger
  • Debug Camera Intrinsic
    • Image Projection
    • Manual camera calibration
  • Additional Reading

Lidar Toolkit in Depth

• Troubleshooting Your Data
• Troubleshooting poses/ego2world
  • Uses of extra calibration calibration matrices
  • Transform world coordinate pointcloud to Ego
  • Starting at 0,0,0
• Troubleshooting Cameras
• Radar Point Deep-Dive

Python API:

• scale_lidar_io
  • scale_lidar_io.scene.LidarScene
  • scale_lidar_io.frame.LidarFrame
  • scale_lidar_io.camera.LidarCamera
  • scale_lidar_io.image.LidarImage
  • scale_lidar_io.transform.Transform
  • scale_lidar_io.connectors.Importer
  • Tasks