/kitti_visualizer

Visualize KITTI Data Based on ROS and Rviz

Primary LanguageC++

Visualize KITTI Data Based on ROS and Rviz

This package is used to visualize kitti data using ROS and Rviz. So far, there has the following main features

Dependencies

    All procedures are based on ROS, which is commonly use in robotics and self-driving cars. We tested this package on the Kinetic version, but we believe that it can be used on other versions as well.

    This is required for visualizing 3D bounding boxes of objects.

Usage

Installation

1. ROS

Ubuntu install of ROS Kinetic

2. jsk_recognition_msgs

sudo apt-get install ros-kinetic-jsk-recognition-msgs
sudo apt-get install ros-kinetic-jsk-rviz-plugins

3. kitti_visualizer package

cd ros_workspace/src
git clone git@github.com:xiaoliangabc/kitti_visualizer.git
cd ros_workspace
catkin_make
source devel/setup.bash

Visualize Object Data

Download Object Data

Download object data (velodyne, image_2, calib, label_2) from KITTI Object Detection Dataset and set the folder structure as following:

object
    testing
        calib
        image_2
        results
        velodyne
    training
        calib
        image_2
        label_2
        velodyne

Modify Config File

Open launch/object_visualizer.launch file, change the following configs:

  • data_path: folder that contains object data
  • dataset: which dataset want to visualize (training / testing)
  • frame_size: number of frames for the corresponding dataset (training: 7481 / tesing: 7518)
  • current_frame: frame index want to start visualization

Launch object_visualizer

Run

roslaunch kitti_visualizer object_visualizer.launch

Then Rviz will be launched, the layout of Rviz is look like

Switch Frames

Move the mouse to the bottom left of the screen:

  • Click the Prev button: switch to the previous frame
  • Click the Next button: switch to the next frame
  • Type frame number to Frame string box: jump to the frame you specified

Visualize Track Data

Download Track Data

Download track data (velodyne, image_2, calib, label_2) from KITTI Object Tracking Dataset and set the folder structure as following:

tracking
    testing
        calib
        image_02
        results
        velodyne
        oxts
    training
        calib
        image_02
        label_02
        velodyne
        oxts

Modify Config File

Open launch/track_visualizer.launch file, change the following configs:

  • data_path: folder that contains track data
  • dataset: which dataset want to visualize (training / testing)
  • scene: which scene want to visualize (00xx)
  • current_frame: frame index want to start visualization

Launch track_visualizer

Run

roslaunch kitti_visualizer track_visualizer.launch

Then Rviz will be launched, the layout of Rviz is look like

Reference

kitti_object_vis

second-ros