Label KITTI point cloud (3d) drivable area using provided image annotations (2d). Only tested with Python 3.
- includes a new calibration file reader, tailored to KITTI road calibration files
- includes script label point cloud
- Project point cloud onto the camera, using calibration information.
- Use image annotations to associate points to labels,
drivable
or otherwise. - Save point cloud with associated labels.
- Download the KITTI Road base kit and velodyne.
- Save
data_road
anddata_road_velodyne
in the root directory of this repository. - Run the main script, to label the velodyne points using the image 2d annotations. Note that the original velodyne binaries contain
nx4
matrices ofx,y,z,intensity
. The new.npy
files will containnx5
matrices ofx,y,z,intensity,drivable
, wheredrivable
is a boolean-valued integer.