Point cloud annotation

Note

The present Readme explains how to annotate point-clouds using CloudCompare and to export annotations to various formats including PLY or Semantic3D.

How-to

CloudCompare source install and modification

1. Download CloudCompare, a tool for 3D point cloud and mesh processing: http://www.danielgm.net/cc/
2. Modify it to be able to export semantic classes, following our own modification procedure
3. Compile following the official instructions

Annotation

1. Open your own point-cloud (say mirabello.ply)

2. Segment your point-cloud in various entities following this rule:

   [building, low-vegetation, man-made-terrain, ...]_[rubble, safe]

   such that for example:

   building_rubble or man-made-terrain_safe

3. Save the whole project as Ascii clouds (a separate ascii cloud for each entity), in for example: mirabello_asc/

Export

Use cc2semantic.py to export the whole cloud to:

• standard ply format: list of points with color corresponding to the semantic class

• or Semantic3D format: two files mirabello.txt (containing the points and corresponding colors) and mirabello.labels (containing the list of semantic classes in the same order)

Tune the python script to get the right inputs and outputs.