Visualizing-lidar-data:使用Uber自主可视化系统（AVS）和Jupyter Notebook应用程序可视...

# Visualizing lidar data Visualizing lidar data using Uber Autonomous Visualization System (AVS) and a Jupyter Notebook Application This project contains two different applications for visualizing lidar data using KITTI Vision Benchmark Suite datasets.  ## 1. Uber AVS Autonomous Visualization System (AVS) --- XVIZ (the data layer for AVS) ### Quick start You need [Node.js](https://nodejs.org/en/) and [yarn](https://yarnpkg.com/lang/en/docs/install) to run the examples. ```bash # Clone XVIZ $ git clone https://github.com/uber/xviz.git $ cd xviz # Install dependencies $ yarn bootstrap ``` Convert and serve KITTI example data: ```bash # Download KITTI data $ ./scripts/download-kitti-data.sh # Convert KITTI data if necessary and run the XVIZ Server and Client $ ./scripts/run-kitti-example.sh ``` # 2. KITTI Dataset Exploration ## Dependencies Apart from the common dependencies like `numpy` and `matplotlib` notebook requires [`pykitti`](https://github.com/utiasSTARS/pykitti). You can install `pykitti` via pip using: ``` pip install pykitti ``` ## Project structure | File | Description | | ---------------------- | ------------------------------------------------------------------------------------------------ | | `kitti-dataset.ipynb` | Jupyter Notebook with dataset visualisation routines and output. | | `parseTrackletXML.py` | Methods for parsing tracklets (e.g. dataset labels), originally created by Christian Herdtweck. | | `utilities.py` | Convenient logging routines. I have used one of the raw datasets available on [KITTI website](http://www.cvlibs.net/datasets/kitti/raw_data.php). 2011_09_26_drive_0005 (0.6 GB) **Length**: 160 frames (00:16 minutes) **Image resolution**: 1392 x 512 pixels **Labels**: 9 Cars, 3 Vans, 0 Trucks, 2 Pedestrians, 0 Sitters, 1 Cyclists, 0 Trams, 0 Misc   ## References: - **Uber Xviz** A protocol for real-time transfer and visualization of autonomy data - https://github.com/uber/xviz - Alex Staravoitau **Visualizing lidar data** --- https://navoshta.com/kitti-lidar/