SUSTechPOINTS: Point Cloud 3D Bounding Box Annotation Tool

News

2020.4.2 automatic yaw angle (z-axis) prediction.

Note

This project is still under heavy development, some features/algorithms need packages which are not uploaded yet, we will upload them soon.

Features

9 DoF box editing
editing on perspective view and projective views
multiple camera images as context, with auto-camera-switching
camera-LiDAR fusion
binary/ascii pcd files
jpg/png image files
semi-auto box annotation (need extra package)
objects/boxes color by category
focus mode to hide background to check details easily
stream play/stop
auto object tracking id generation
interactive box fitting

Requirements

python, cherrypy, tensorflow>=2.1

Install

install packages
```
pip install -r requirement.txt
```

download models

download pretrained model file deep_annotation_inference.h5, put it into ./algos/models

wget https://github.com/naurril/SUSTechPOINTS/releases/download/0.1/deep_annotation_inference.h5  -p algos/models

Start

run the following script in shell, then go to http://127.0.0.1:8081

python main.py

Data preparation

public
   +- data
       +- scene1
             +- image
                  +- front
                       +- 0000.jpg
                       +- 0001.jpg
                  +- left
                       +- ...
             +- pcd
                  +- 0000.pcd
                  +- 0001.pcd
             +- label
                  +- 0000.json
             +- calib
                  +- front.json
                  +- left.json
                  +- ...
       +- scene2

label is the directory to save the annotation result.

calib is the calibration matrix from point cloud to image. it's optional, but if provided, the box is projected on the image so as to assist the annotation.

check examples in ./data/example

Object type configuration

default object configuration is in obj_cfg.js

Operations

You have 2 ways to add a new box:

Right click on an object, choose object type in popup context menu
Holding Ctrl, draw a rectangle enclosing the object.

Hint:

Adjust the main view so that the objects (e.g. cars) are heading upward or downward along the screen, use 'g' if the direction need to be reversed, use 'r' or 'f' to adjust the yaw angle (z-axis rotation)
Adjust the main view so it's almost in bird's eye view. (direct bird's eye view support is not complete yet)

Main View:
     mouse scroll up/down:  zoom in/out
     mouse left key hold/move: rotate (change main view)
     mouse right key hold/move: pan

     left click on a box: select
     left click on a selected box: show transform control
     left click on non-box area: hide transform control if present, or unselect box

     Ctrl+mouse drag: add a new box

     -/=: adjust point size

     When transform control is enabled:
          v: switch transform modes among resize/translate/rotate
          z/x/c: turan on/off x/y/z axis
          use mouse to adjust the box.

     ctrl+s  save current frame
     del/ctrl+d  remove selected box

     1,2  select previous/next box
     3,4  show previous/next frame in current scene
     5,6,7  show camera helper box of sideviews.

     space: pause/continue stream play

Side sbu-view (projective view):

     (note: in perspective view, all keyboard operations are same as operating in top-view)

     a: move box left
     s: move box down
     d: move box right
     w: move box up
     q: rotate box counterclockwise
     e: rotate box clockwise
     r: rotate box counterclockwise, with box auto-fitting
     f: rotate box clockwise, with box auto-fitting
     g: reverse heading direction (rotate by PI)
     t: reset box

     double click on center: auto-shrink box by adjusting all borders to nearest innner point.
     double click on border: auto-shrink box by adjusting the border to nearest innner point.
     double click on corner: auto-shrink box by adjusting the corresponding borders to nearest innner point.

     drag border/corner/center: move border/corner/box.
     ctrl + drag border/corner: move border/corner/box with box auto-fitting

Other Doc

Deploy uwsgi

aaskk/SUSTechPOINTS