k0suke-murakami/dataset_viewer

ROS visualization publisher for the kitti-like dataset

Dataset Visualizer

Python Requirements

argparse
ros_numpy
ros
pcl
pathlib
numpy

Dataset tree

.
├── scene000
│   ├── Annotations
│   └── PCDPoints
├── scene001
│   ├── Annotations
│   └── PCDPoints
.
.
.
└── sceneXXX
    ├── Annotations
    └── PCDPoints

How to use

1. Open ROS' rviz
2. Set Fixed Frame to lidar
3. Add PointCloud visualization, set to topic /points_raw
4. Add MarkerArray visualization, set to topic /detection/object_markers
5. Following example tree shown above execute:

$ python /PATH/TO/reader_publisher.py ./scene000/PCDPoints ./scene000/Annotations