Installation

• Python == 3.6
• Download the repository

git clone https://github.com/Xiaoqiong-Liu/pointcloud.git
cd pointcloud

• Create a new environment

conda create -n pointcloud python=3.6 # Known issue: python 3.7,python 3.8 not work with mayavi on MacOS in my test
conda activate pointcloud

• Install required packages

pip install opencv-python
pip install pillow
pip install pyquaternion
pip install torchmetrics
pip install typing-extensions
pip install shapely
pip install pyyaml
conda install scipy
conda install yaml
conda install importlib_resources
conda install -c menpo mayavi
conda install pytorch==1.4.0

I use miniconda with Python 3.6 on macOS Big Sur 11.6 for running the code!

Data Preparation (KITTI)

• Download KITTI tracking data, including left color images, velodyne, camera calibration and training labels.
• Unzip all the downloaded files.
• Remove test subfolder in each folder, and re-organize each folder as follows

KITTI
  --- [label_2]
        --- {0000-0020}.txt
  --- [calib]
        --- {0000-0020}.txt
  --- [image_2]
        --- [0000-0020] folders with .png images
  --- [velodyne]
        --- [0000-0020] folders with .bin files

If you don't want to download the dataset, a smaller version in root_path_to_this_repo/data/KITTI/ is provided in this repository with a simplified seuqnece (sequence 0001). You can also refer this to prepare the dataset.

Visualization test

under pointcloud

python test.py