Awesome
Voxelize point clouds
Tool to voxelize annotated point clouds.
Dependencies
- Eigen >= 3.2
- boost >= 1.54
- QT >= 5.2
Build
On Ubuntu 22.04/20.04, most of the dependencies can be installed from the package manager:
sudo apt install build-essential cmake libeigen3-dev libboost-all-dev qtbase5-dev libglew-dev
Use the usual cmake out-of-source build process:
mkdir build && cd build
cmake ..
Now the project root directory should contain a bin
directory containing the voxelizer.
Usage
In the bin
directory, just run ./voxelizer
to start the voxelizer.
In the settings.cfg
files you can change the followings options:
To generate the data by iterating over a sequence directory, call ./gen_data
in the bin
directory.
Folder structure
When loading a dataset, the data must be organized as follows:
<pre> point cloud folder ├── velodyne/ -- directory containing ".bin" files with Velodyne point clouds. ├── labels/ -- label directory, will be generated if not present. ├── calib.txt -- calibration of velodyne vs. camera. needed for projection of point cloud into camera. └── poses.txt -- file containing the poses of every scan. </pre>