db_info.log

{
  'annos':  {
              'alpha': array([-0.2]),
              'bbox': array([[712.4 , 143., 810.73, 307.92]], dtype=float32),
              'difficulty': array([0], dtype=int32),
              'dimensions': array([[1.2 , 1.89, 0.48]]),
              'gt_boxes_lidar': array([[ 8.73138046, -1.85591757, -0.65469939, 
                                        1.2       ,  0.48      , 1.89       , -1.58079633]]),
              'index': array([0], dtype=int32),
              'location': array([[1.84, 1.47, 8.41]], dtype=float32),
              'name': array(['Pedestrian'], dtype='<U10'),
              'num_points_in_gt': array([377], dtype=int32),
              'occluded': array([0.]),
              'rotation_y': array([0.01]),
              'score': array([-1.]),
              'truncated': array([0.])
            },

  'calib':  {
              'P2': array([ [ 7.07049316e+02,  0.00000000e+00,  6.04081421e+02, 4.57583084e+01],
                            [ 0.00000000e+00,  7.07049316e+02,  1.80506607e+02, -3.45415711e-01],
                            [ 0.00000000e+00,  0.00000000e+00,  1.00000000e+00, 4.98101581e-03],
                            [ 0.00000000e+00,  0.00000000e+00,  0.00000000e+00, 1.00000000e+00]]),
              'R0_rect': array([[ 0.9999128 ,  0.01009263, -0.00851193,  0.        ],
                                [-0.01012729,  0.9999406 , -0.00403767,  0.        ],
                                [ 0.00847067,  0.00412352,  0.9999556 ,  0.        ],
                                [ 0.        ,  0.        ,  0.        ,  1.        ]], dtype=float32),
              'Tr_velo_to_cam': array([[ 0.00692796, -0.99997222, -0.00275783, -0.02457729],
                                      [-0.00116298,  0.00274984, -0.99999553, -0.06127237],
                                      [ 0.99997532,  0.00693114, -0.0011439 , -0.33210289],
                                      [ 0.        ,  0.        ,  0.        ,  1.        ]])
            },

  'image':  {
              'image_idx': '000000',
              'image_shape': array([ 370, 1224], dtype=int32)
            },

  'point_cloud': {'lidar_idx': '000000', 'num_features': 4}
}