KITTI_VIZ_3D

Visualization 3D object detection results using meshlab.

This code is used for visualization by adding 3D bounding boxes to the LiDAR point cloud and storing it in a txt file.

Requrements

numba

opencv

matplotlib

pandas

python code

kitti_util.py

meshlab_file.py

draw3Dbox2img.py

draw_voxel_circle.py

Some information need changed when you use this code.

img_id = 5147

calib = Calibration('/home1/yang_ye/data/Kitti/testing/calib/%06d.txt'%img_id)

path = '/home1/yang_ye/data/Kitti/testing/velodyne/%06d.bin'%img_id

path_img = '/home1/yang_ye/data/Kitti/testing/image_2/%06d.png'%img_id

points = np.fromfile(path, dtype=np.float32).reshape(-1, 4)

df = read_detection('/home2/yang_ye/results_kitti/%06d.txt'%img_id)

origin image

3D Visualization

3D projected to image

Draw voxels and circles