The development kit provides a version of ROS-based livox point cloud reading and 3D target bounding box display node.
- ROS
- cmake
- python3.6+
-
Install ROS according to ros_installation
-
Put the two provided nodes under the
catkin_ws
directory you created
$ mkdir catkin_ws
$ cp -r ./src ./catkin_ws
- Put the provided
pcd_getname.py
file in the root directory oflivox_dataset_v1.0
. - Get the file name list of the point cloud pcd file and the corresponding image file name list. Firstly create a new file 'namelist.txt' in the same directory of 'pcd_getname.py', and input the target folder name, for example 'data4_2020_05_11', then
$ python pcd_getname.py
It will generate the files containing the names of pcd and images of 'data4_2020_05_11' in the corresponding folders.
3. Change pcd_anno_read_node.cpp
and pcd_single_read_node.cpp
root path according to your storage path of livox_dataset_v1.0
.
4. Compile the projects under directory of catkin_ws
$ catkin_make
$ source devel/setup.bash
- For Visualizing annotation results in one direction (lidar coordinate system):
$ roslaunch pcd_single_read show_results.launch
- For Visualizing the annotation results in all directions (world coordinate system)
$ roslaunch pcd_anno_read show_results.launch