KittiViz

Data visualizer for Kitti dataset.

This is the final project for Dr. Spickler's COSC482: Computer Graphics at Salisbury University spring 2017.

Project poster

Gif demo (Youtube video)

Requirements

• Code::Blocks

• Kitti dataset

• OpenGL >= 3.5

How to compile and run it

1/ Download and extract raw data (synced+rectified data and tracklets) from cvlibs. Note that, currently, this project only works for dataset with a tracklets file. For example, KittiViz can run for 2011_09_26_drive_0001 as there is tracklets download link in download section. On the other hand, KittiViz won't run for 2011_09_26_drive_0095 as that dataset doesn't have a tracklets file. 2/ Make sure your data folder hierarchy is structured like this:

├── 2011_09_26
│   ├── 2011_09_26_drive_0001_sync
│   │   ├── image_00
│   │   ├── image_01
│   │   ├── image_02
│   │   ├── image_03
│   │   ├── oxts
│   │   ├── tracklet_labels.xml
│   │   └── velodyne_points
│   ├── 2011_09_26_drive_0036_sync
│   │   ├── image_00
│   │   ├── image_01
│   │   ├── image_02
│   │   ├── image_03
│   │   ├── oxts
│   │   ├── tracklets
│   │   └── velodyne_points

3/ From the KittiViz directory, run parser.py path_to_tracklet_labels.xml to create tracklets folder. Resulting folder tree should be like:

├── 2011_09_26
│   ├── 2011_09_26_drive_0001_sync
│   │   ├── image_00
│   │   ├── image_01
│   │   ├── image_02
│   │   ├── image_03
│   │   ├── oxts
│   │   ├── tracklet_labels.xml
│   │   ├── **tracklets**
│   │   └── velodyne_points
│   ├── 2011_09_26_drive_0036_sync
│   │   ├── image_00
│   │   ├── image_01
│   │   ├── image_02
│   │   ├── image_03
│   │   ├── oxts
│   │   ├── tracklet_labels.xml
│   │   ├── **tracklets**
│   │   └── velodyne_points

4/ Load the project in to Code::Blocks by:

• Go to File -> Open
• Click on OBJModelLoadingCompleteStars.cbp file.

5/ Update these three lines to the dataset you want to run:

• path: absolute path to your kitti base folder.
• date: dataset's date.
• drive: drive number of the dataset.

For exmaple, 2011_09_26_drive_0001_sync is the date it is recorded on 2011_09_26 and 1 is its drive number.

6/ Hit Build and Run button on Code:Block to compile and run it.

Keyboards

• P: Pause and resume.
• C: Toggle drawing cloudpoints.
• X: Switch speed unit between mph and kph.
• B: Toggle drawing bounding boxes.
• Shift + . or Shift + ,: Increase or decrease frame speed.
• Up, Down, Left, Right: Move camera.
• Ctrl + Up or Ctrl + Down: Zoom in and zoom out.