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kitti_instance_RGBD_utils

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branch description owner Update
master fork from Jerrypiglet/kitti_instance_RGBD_utils youyi
test_heatmap run testing youyi
dump_data dump TUM dataset using kitti scripts youyi

A data preparation script for instance-wise temporal RGB-D/3D data on KITTI.

Each sample consists of one car sequence with:

  • N RGB frames cropped out;
  • N reprojected sparse depth from KITTI raw data;
  • Style and pose initialization from MV3D dataset for the first frame in the sequence;
  • 2D/3D bounding boxes;
  • Silhouette(s) for some frames (not for all samples because only 200 frames of KITTI are semantically labelled).

Requirements

KITTI raw, depth, semantic, detection dataset; MV3D dataset.

Mayavi(http://docs.enthought.com/mayavi/mayavi/mlab.html) is required to run the code.

Quick installation in Python2 with Conda:

https://stackoverflow.com/questions/41960672/how-to-install-mayavi-trait-backends

Usage

Check the kitti_lidar_reproj_ipynb.ipynb file for a demo.

Obsolete

python kitti_lidar.py --fdir [input dir of kitti drive] --outdir [output dir]

Example:

conda activate mayavi

python kitti_lidar.py --fdir /home/rzhu/Documents/kitti_dataset/raw/2011_09_26/2011_09_26_drive_0005_sync/ --outdir ./

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