ros_obj3d

Visualize the point cloud and 3d BBox from .obj file.

Build

cd ros_obj3d/catkin_ws

catkin build

Run

cd ros_obj3d/catkin_ws

source devel/setup.bash

roslaunch pcl_publisher scene_publisher.py

.obj file organization:

the .obj data folder MUST be located in the ros package folder, so that they could be read as Marker msg.

/catkin_ws/src/pcl_publisher/cp_vis_scene

cp_vis_scene
├── baseline
│   ├── n008-2018-08-30-15-31-50-0400__LIDAR_TOP__1535657531048384
│   │   ├── n008-2018-08-30-15-31-50-0400__LIDAR_TOP__1535657531048384_gt.obj
│   │   ├── n008-2018-08-30-15-31-50-0400__LIDAR_TOP__1535657531048384_points.obj
│   │   └── n008-2018-08-30-15-31-50-0400__LIDAR_TOP__1535657531048384_pred.obj
│   ├── ...
│   └── ... (the next frames)
└── ours
    ├── n008-2018-08-30-15-31-50-0400__LIDAR_TOP__1535657531048384
    │   ├── n008-2018-08-30-15-31-50-0400__LIDAR_TOP__1535657531048384_gt.obj     >>> useless
    │   ├── n008-2018-08-30-15-31-50-0400__LIDAR_TOP__1535657531048384_points.obj >>> useless
    │   └── n008-2018-08-30-15-31-50-0400__LIDAR_TOP__1535657531048384_pred.obj
    ├── ...
    └── ... (the next frames)

each scene is basically divided into "ours" and "baseline"
under each of them, each frame is a folder, containing the .obj files for:

• point cloud (xxx_points.obj)
• predicted result (xxx_pred.obj)
• ground truth (xxx_gt.obj)

what are published from these .obj files:

ros topic	file
/pcl	/baseline/<frame_id>/xxx_points.obj
/gt_bbox	/baseline/<frame_id>/xxx_gt.obj
/bl_bbox	/baseline/<frame_id>/xxx_pred.obj
/ours_bbox	/ours/<frame_id>/xxx_pred.obj