Visualisation-perception-2D-3D

Several tools for visualizing 3D perception result

Contents

• Visualisation for kitti dataset
• Inverse projection RGBD

TODO

• Add visua of the predict depth.
• Add visua of disp error in image.

Get started

Dependencies

• Ubuntu 16.04
• python 3.6 (pip, mkvirtualenv)
• mayavi 4.7.1
• Pyside2
• PyQt5
• vtk
• opencv 4.2.0.32
• numpy
• scipy
• open3d 0.7.0.0

Or run:

git clone https://github.com/maiminh1996/visualisation-perception-3D.git
cd visualisation-perception-3D/
pip3 install -r requirement.txt

Visualisation for kitti dataset

Ref: Explain kitti: sensors, calib, etc

Run:

cd visualize_kitti/
python visua.py

Let uncomment these functions in visualize_kitti/visua.py

draw_lidar_simple()	show_lidar_with_boxes()
show_image_with_boxes()	show_lidar_on_image()
show_lidar_topview_with_boxes()

Inverse projection RGBD

Ref: Explain inverse projection

Run:

# 2011_09_28_drive_0106_sync
cd inverse_projection_open3d/
python inverse_projection.py

Run:

python visua_pcl.py