Robust pipeline that includes 3D object detection plus trajectory prediction. A lot of work is in progress but will be completed by mid August. Your folder structure should look like this (label_2, DETS2D and DETS3D are folders that contain label files for each frame)
kitti_folder_loc
├── calib
├── image_2
├── image_3
├── label_2
├── velodyne
├── fake_velodyne
├── DETS3D
└── DETS2D