Visualisation-perception-2D-3D
Several tools for visualizing 3D perception result
Contents
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.txtVisualisation for kitti dataset
Ref: Explain kitti: sensors, calib, etc
Run:
cd visualize_kitti/
python visua.pyLet uncomment these functions in visualize_kitti/visua.py
draw_lidar_simple() |
show_lidar_with_boxes() |
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show_image_with_boxes() |
show_lidar_on_image() |
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show_lidar_topview_with_boxes() |
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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