KITTI Visualization in Rviz (unofficial)

This visualization is a re-implementation of The KITTI Vision Benchmark Suite based on the website

The purpose of the visualization

Show how to include carema, point cloud, 3d boxes, imu data, gps data, tracking location and min distance between other objects in Rviz.
3d boxes, tracking location, and min distance between other objets are printed by ROS markers.

Installation

• Environment

  Ubuntu 20.04

  Ubuntu 20.04

  Python 3.8

  os, numpy, cv2, rospy, pandas

  OpenCV

  pip install opencv-python

• Data

  Raw Data

  Download 2011_09-26_drive_0005 from website above Convert KITTI dataset into ROS bag files

  sudo pip install kitti2bag
  kitti2bag -t 2011_09_26 -r 0005 rawsynced