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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.

image

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