kitti数据集

calib文件

P0: 7.215377000000e+02 0.000000000000e+00 6.095593000000e+02 0.000000000000e+00 0.000000000000e+00 7.215377000000e+02 1.728540000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00  
P1: 7.215377000000e+02 0.000000000000e+00 6.095593000000e+02 -3.875744000000e+02 0.000000000000e+00 7.215377000000e+02 1.728540000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00  
P2: 7.070493000000e+02 0.000000000000e+00 6.040814000000e+02 4.575831000000e+01 0.000000000000e+00 7.070493000000e+02 1.805066000000e+02 -3.454157000000e-01 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 4.981016000000e-03  
P3: 7.215377000000e+02 0.000000000000e+00 6.095593000000e+02 -3.395242000000e+02 0.000000000000e+00 7.215377000000e+02 1.728540000000e+02 2.199936000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 2.729905000000e-03  
R0_rect: 9.999128000000e-01 1.009263000000e-02 -8.511932000000e-03 -1.012729000000e-02 9.999406000000e-01 -4.037671000000e-03 8.470675000000e-03 4.123522000000e-03 9.999556000000e-01  
Tr_velo_to_cam: 6.927964000000e-03 -9.999722000000e-01 -2.757829000000e-03 -2.457729000000e-02 -1.162982000000e-03 2.749836000000e-03 -9.999955000000e-01 -6.127237000000e-02 9.999753000000e-01 6.931141000000e-03 -1.143899000000e-03 -3.321029000000e-01  
Tr_imu_to_velo: 9.999976000000e-01 7.553071000000e-04 -2.035826000000e-03 -8.086759000000e-01 -7.854027000000e-04 9.998898000000e-01 -1.482298000000e-02 3.195559000000e-01 2.024406000000e-03 1.482454000000e-02 9.998881000000e-01 -7.997231000000e-01

label文件

== 说明 ==

label文件中的3D框坐标信息是在相机2(左边彩色相机)坐标系下，并不是在激光雷达坐标系下；
label_02文件夹中image也是在相机2坐标系下
点云坐标是在激光雷达坐标系下

参考链接：
https://zhuanlan.zhihu.com/p/99114433
https://blog.csdn.net/ys578676728/article/details/111407018