Demo Software for LidarSegHD

Code adapted from API for SemanticKITTI

This repository contains helper scripts to open, visualize, process, and evaluate results for point clouds and labels from the SemanticKITTI dataset.

• Link to original KITTI Odometry Benchmark Dataset
• Link to SemanticKITTI dataset.
• Link to SemanticKITTI benchmark competition.

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Example of 3D pointcloud from sequence 13:

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#TODO: Format Citations, clean out documentation

Data Organization

/kitti/dataset/
          └── sequences/
                  ├── 00/
                  │   |
                  │   .
                  │   .
                  |   .
                  |   |
                  │   ├── labels/
                  │   │     ├ 000000.label
                  │   │     └ 000001.label
                  │   └── velodyne/
                  │         ├ 000000.bin
                  │         └ 000001.bin
                  ├── 01/
                  ├── 02/
                  .
                  .
                  .
                  └── 21/

Dependencies

System dependencies

$ sudo apt install python3-dev python3-pip python3-pyqt5.qtopengl # for visualization

Python dependencies

$ sudo pip3 install -r requirements.txt

Usage:

python3 visualize.py --help

For default parameters:

python3 visualize.py --dataset DATASET

To specify label config .yml: (defaults to config/semantic-kitti.yaml)

python3 visualize.py --dataset DATASET --config CONFIG.YML

To see data load and visualization Time:

python3 visualize.py --dataset DATSET --print_data