hunse / kitti Goto Github PK

Hello,

As I'm not yet familiar with Python and it not described on the ReadMe, I just would like to know, what can we do with your tool ?

Actually I'm working with the KITTI dataset, especially with the Odometry part and I would like to compare my results with the ground truth provided by KITTI.

Thank you,

Regards

is there any way to annotate my own bounding box(tracklets) for kitti dataset.
all the dev kit i found is for visualisation not an annotation tool.

Got the following two error from setup.py:

- kitti/bp/module.cpp:580:10: fatal error: numpy/arrayobject.h: No such file or directory
 #include "numpy/arrayobject.h"
- kitti/bp/module.cpp:586:10: fatal error: opencv2/opencv.hpp: No such file or directory
 #include "opencv2/opencv.hpp"

solved by:

• installing opencv libraries

sudo apt install libopencv-dev

• installing numpy

pip install numpy

and the following changes to setup.py

diff --git a/setup.py b/setup.py
index 83c228c..cde6e6d 100644
--- a/setup.py
+++ b/setup.py
@@ -2,16 +2,22 @@ from setuptools import setup
 
 from distutils.extension import Extension
 from Cython.Distutils import build_ext
+import numpy
+import subprocess
+ 
+proc_libs = subprocess.check_output("pkg-config --libs opencv".split())
+proc_incs = subprocess.check_output("pkg-config --cflags opencv".split())
+libs = [lib for lib in str(proc_libs, "utf-8").split()]
 
 ext_modules = []
 ext_modules.append(Extension(
     "kitti.bp.module",
     ["kitti/bp/module.pyx", "kitti/bp/interp.cpp", "kitti/bp/stereo.cpp", "kitti/bp/bp.cpp"],
-    include_dirs=["kitti/bp", "/opt/opencv/include"],
+    include_dirs=[numpy.get_include(), "kitti/bp", "/opt/opencv/include"],
     library_dirs=["/opt/opencv/lib"],
     libraries=["opencv_core", "opencv_imgproc"],
     language="c++",
-    extra_compile_args=["-w", "-O3"]))
+    extra_compile_args=["-w", "-O3"].append(libs)))
 
 setup(
     name="kitti",

Just wanted to share the fix

Is there a code for generation depth maps from lidar points like the depth completion dataset in kitti

Dumb question - but what is the easiest way of downloading the kitty dataset? Is there an automatic way of getting it all?

Hi Hunse. I am fairly new to Python. Until now I used to work on C++ exclusively so please accept my apologies for a naive questions:

1. I am trying to set the DIR path in drive_dir but I am a little confused as to how to pass on the argument. Do I put the path in as a string like I do in C++ or is there something I am missing?

def get_velodyne_dir(drive, **kwargs): drive_dir = get_drive_dir('C:/Users/XYZABC/Downloads/2011_09_26/2011_09_26_drive_0001_extract', **kwargs) return os.path.join(drive_dir, 'velodyne_points', 'data')

2. I noticed that you have used .bin as the file format but I have gotten data s text file from KITTI. Is that not what this program is for? If not so, which one is it?

Is there a code for generation depth maps from lidar points like the depth completion dataset in kitti.
@hunse