Livox_dataset_v1.0 devkit

The development kit provides a version of ROS-based livox point cloud reading and 3D target bounding box display node.

Dependencies

• ROS
• cmake
• python3.6+

Installation

1. Install ROS according to ros_installation

2. Put the two provided nodes under the catkin_ws directory you created

$ mkdir catkin_ws
$ cp -r ./src ./catkin_ws

Useage

1. Put the provided pcd_getname.py file in the root directory of livox_dataset_v1.0.
2. Get the file name list of the point cloud pcd file and the corresponding image file name list. Firstly create a new file 'namelist.txt' in the same directory of 'pcd_getname.py', and input the target folder name, for example 'data4_2020_05_11', then

$ python pcd_getname.py

It will generate the files containing the names of pcd and images of 'data4_2020_05_11' in the corresponding folders. 3. Change pcd_anno_read_node.cpp and pcd_single_read_node.cpp root path according to your storage path of livox_dataset_v1.0. 4. Compile the projects under directory of catkin_ws

$ catkin_make
$ source devel/setup.bash

Visualization

1. For Visualizing annotation results in one direction (lidar coordinate system):

$ roslaunch pcd_single_read show_results.launch

2. For Visualizing the annotation results in all directions (world coordinate system)

$ roslaunch pcd_anno_read show_results.launch