Awesome
3D Scene Visualizer
3D scene visualization demos for development, using VTK. Note that some of these scripts are experimental.
Demos included for:
- KITTI
- nuScenes
- Argoverse
Depth completion (IP-Basic) example on KITTI with labels shown:
If you find this code useful, please consider citing:
- VMVS (IROS 2019): Improving 3D Object Detection for Pedestrians with Virtual Multi-View Synthesis Orientation Estimation
- IP-Basic (CRV 2018): In Defense of Classical Image Processing: Fast Depth Completion on the CPU
Other works that also use this visualization:
Environment
Python 3.5.2 or 3.6
workon [virtualenvname]
pip install -r requirements.txt
add2virtualenv src
Or in PyCharm:
- Right-click
src
-> Mark Directory As -> Sources Root
KITTI Setup
Download files and place them in ~/Kitti
:
/home/$USER/Kitti
object
odometry
raw
Optional Scripts
- Run depth completion
scripts/depth_completion/save_depth_maps_obj.py
scripts/depth_completion/save_depth_maps_raw.py
- Save the outputs into their corresponding Kitti folders. Ex.
- obj:
~/Kitti/object/training/depth_2_multiscale
- raw:
~/Kitti/raw/2011_09_26/2011_09_26_drive_0039_sync/depth_02_multiscale
- obj:
Demos
kitti_obj/view_sample_3d.py
- view point cloud and boxeskitti_odometry/overlay_odom_point_clouds_orbslam.py
kitti_raw/overlay_xxx.py
- overlay point clouds from multiple frameskitti_raw/depth_completed_point_clouds.py
- shows depth completed point clouds from IP-Basic
nuScenes Setup
(Work in Progress)
- Add a symlink to the nuscenes data in
data/dataset/nuscenes
Demos
show_top_lidar.py
: Show top LiDAR point cloud
Argoverse Setup
- Add a symlink to the argoverse data in
data/dataset/nuscenes
- Install the argoverse api from https://github.com/argoai/argoverse-api
Demos
pointcloud_example.py
: Show point cloud
Controls:
- Drag: Rotate around focal point
- Scroll / Right click + drag: Zoom
- Middle click + drag / Shift + drag: Move camera
- Ctrl + drag: Rotate around camera axis
Keys:
- a: Toggle axes visibility
- t: Set camera to (0, 0, 0)
- r: Reset camera
- f: Set focal point to actor/point under mouse
- F1-F12: Toggle actor visibility
- 3: Red/Green 3D?
- s: Render as solids
- w: Render as wireframes