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helimos-visualizer

A LiDAR visualization tool for HeLiMOS dataset

https://github.com/url-kaist/helimos-visualizer

Science Score: 54.0%

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Repository

A LiDAR visualization tool for HeLiMOS dataset

Basic Info
  • Host: GitHub
  • Owner: url-kaist
  • License: mit
  • Language: Python
  • Default Branch: main
  • Size: 4.69 MB
Statistics
  • Stars: 25
  • Watchers: 1
  • Forks: 1
  • Open Issues: 0
  • Releases: 0
Created over 1 year ago · Last pushed over 1 year ago
Metadata Files
Readme License Citation

README.md

🚗 HeLiMOS Visualizer 🏃

Dataset | Paper

Forked from the original repository: https://github.com/PRBonn/lidar-visualizer.git

animated

HeLiMOS-visualizer is a tool that visualizes moving objects from heterogeneous LiDAR data.

:wrench: How to install

```sh git clone https://github.com/OREOCHIZ/helimos-visualizer.git cd helimos-visualizer

make install ```

💡 Usage

1. Set the symbolic link

Download the HeLiMOS dataset and create a symbolic link to it at ${HOME}/HeLiMOS ```sh sudo ln -s "/path/to/HeLiMOS/{sequence}" "$HOME/HeLiMOS"

e.g. sudo ln -s "/path/to/HeLiMOS/KAIST05" "$HOME/HeLiMOS"

```

After that, we expect the following directory: ```

${HOME}/HeLiMOS/{sequence} ├──Deskewed_LiDAR ├── train.txt ├── val.txt ├── test.txt ├── Aeva │ ├── calib.txt │ ├── velodyne │ ├── labels ├── Avia │ ├── calib.txt │ ├── velodyne │ ├── labels ├── Ouster │ ├── calib.txt │ ├── velodyne │ ├── labels └── Velodyne ├── calib.txt ├── velodyne └── labels `` In HeLiMOS, we are currently using only the sequenceKAIST05`.

2. Visualize Moving objects

If you want to visualize specific sensor,

```sh helimos_visualizer --sensor [Aeva / Avia / Velodyne / Ouster] \ --split [train / val / test / all]

e.g. helimos_visualizer --sensor Aeva --split train

```

  • Set the --sensor flag to one of the following: Avia, Aeva, Velodyne, or Ouster. The default value is Ouster.
  • Also, set the --split flag to train, val, test or all. The default value is all.

If you would like more detailed information about the --split, please refer to our dataset page.

Help

If you need more information, just type: sh helimos_visualizer --help

Citation

If you use this visualizer for any academic work, please cite original kiss-icp and our HeLiMOS.

Owner

  • Name: Urban Robotics Lab. @ KAIST
  • Login: url-kaist
  • Kind: organization
  • Email: github@urserver.kaist.ac.kr
  • Location: Korea, South

Citation (CITATION.cff) 

cff-version: 1.2.0
preferred-citation:
  title: "KISS-ICP: In Defense of Point-to-Point ICP - Simple, Accurate, and Robust Registration If Done the Right Way"
  doi: "10.1109/LRA.2023.3236571"
  year: "2023"
  type: article
  journal: "IEEE Robotics and Automation Letters (RA-L)"
  url: https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf
  codeurl: https://github.com/PRBonn/kiss-icp
  authors:
    - family-names: Vizzo
      given-names: Ignacio
    - family-names: Guadagnino
      given-names: Tiziano
    - family-names: Mersch
      given-names: Benedikt
    - family-names: Wiesmann
      given-names: Louis
    - family-names: Behley
      given-names: Jens
    - family-names: Stachniss
      given-names: Cyrill

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Dependencies

pyproject.toml pypi
  • natsort *
  • numpy *
  • tqdm *
  • typer [all]>=0.6.0