/label_kitti_point_cloud

Annotate the point cloud data from KITTI with the labels

Primary LanguagePython

KITTI point cloud label tool

Introduction

This tool could annotate the KITTI Velodyne point cloud with the label. I found there is no such tool could do this. It's simple but I prefer there is some code available directly.

Time:

Trainig: Using 8 CPU core may take around whole night.   
Testing: Using 8 CPU core may take around 30min.

If you have any questions, please let me know.

Some of the code is from: https://github.com/barrykui/kitti_object_vis

screenshot

Dataset

Download the data (calib, label_2, velodyne) from Kitti Object Detection Dataset

The folder structure is as following (you don't need to remove other folder, just make sure those folder exist):

training
    calib
    label_2
    velodyne
testing
    velodyne

Requirements

pip install laspy
pip install numpy
pip install pymp-pypi

Run

##Explaination
python label_kitti_point_cloud.py /input_folder/ /output_folder/ valid_distance has_label num_thread

##Example
####for training set
python kitti_label.py /volumes1/KITTI/training/ /volumes1/KITTI/las/ 50 True 8
####for testing set
python kitti_label.py /volumes1/KITTI/testing/ /volumes1/KITTI/las/ 50 False 8