def kitti_data_prep(root_path, info_prefix, version, out_dir):
    """Prepare data related to Kitti dataset.

    Related data consists of '.pkl' files recording basic infos,
    2D annotations and groundtruth database.

    Args:
        root_path (str): Path of dataset root.
        info_prefix (str): The prefix of info filenames.
        version (str): Dataset version.
        out_dir (str): Output directory of the groundtruth database info.
    """
    kitti.create_kitti_info_file(root_path, info_prefix)
    kitti.create_reduced_point_cloud(root_path, info_prefix)

    info_train_path = osp.join(root_path, f'{info_prefix}_infos_train.pkl')
    info_val_path = osp.join(root_path, f'{info_prefix}_infos_val.pkl')
    info_trainval_path = osp.join(root_path,
                                  f'{info_prefix}_infos_trainval.pkl')
    info_test_path = osp.join(root_path, f'{info_prefix}_infos_test.pkl')
    kitti.export_2d_annotation(root_path, info_train_path)
    kitti.export_2d_annotation(root_path, info_val_path)
    kitti.export_2d_annotation(root_path, info_trainval_path)
    kitti.export_2d_annotation(root_path, info_test_path)

    create_groundtruth_database(
        'KittiDataset',
        root_path,
        info_prefix,
        f'{out_dir}/{info_prefix}_infos_train.pkl',
        relative_path=False,
        mask_anno_path='instances_train.json',
        with_mask=(version == 'mask'))
Prepare data related to Kitti dataset.

    Related data consists of '.pkl' files recording basic infos,
    2D annotations and groundtruth database.

    Args:
        root_path (str): Path of dataset root.
        info_prefix (str): The prefix of info filenames.
        version (str): Dataset version.
        out_dir (str): Output directory of the groundtruth database info.
    
tools/create_data.py