KITTI 3D数据可视化
考虑两个轮子
1. SECOND kittiviewer
SECOND和PointPillars算法的可视化工具,Web形式。但是,里面涉及到SECOND设计的数据库类,不太方便移植到自己的代码。【后续研究】
2. mayavi
- 参考Frustum-PointNets:https://blog.csdn.net/u011507206/article/details/88972892
- https://www.bilibili.com/read/cv7937840/
- SA-SSD点云可视化
实现
代码仓库:https://github.com/wennieWN/mmdet_SA-SSD
环境配置:1.0 SA-SSD 环境配置
写在前面:
- 主要步骤参考博客:https://blog.csdn.net/u011507206/article/details/88972892
使用Charles R. Qi Frustum-pointnets源码中KITTI可视化部分- SA-SSD中mmdet.datasets.kitti_utils版本与Frustum-pointnets中kitti_utils版本略有出入,我已将整改后的kitti_utils代码上传至Github
- 原版可视化代码kitti_object.py调用viz_utils模块,方便起见,我已将viz_utils整合至kitti_object中。修整后的kitti_object代码上传至Github
1. 可视化
python visualize/kitti_object.py
2. 可能出现的错误
错误一:
报错:
Could not import backend for traitsui. Make sure you have a suitable UI toolkit like PyQt/PySide or wxPython
pip install pyqt5
错误二:
报错:
qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in xxx even though it was found. This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
输入命令,查找具体错误:
export QT_DEBUG_PLUGINS=1
找到错误:
QObject::moveToThread: Current thread xxx is not the object's thread xxx. Cannot move to target thread xxx
解决:
降低opencv-python的版本,参考博客1、2
pip uninstall opencv-python
pip install opencv-python==4.1.0.25
3. 结果
命令行输入回车,查看下一张2D图/3D图
mayavi的使用参考博客,主要操作包括: