3D Scene Visualizer

3D scene visualization demos for development, using VTK. Note that some of these scripts are experimental.

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Demos included for:

• KITTI
• nuScenes
• Argoverse

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Depth completion (IP-Basic) example on KITTI with labels shown:

If you find this code useful, please consider citing:

• VMVS (IROS 2019): Improving 3D Object Detection for Pedestrians with Virtual Multi-View Synthesis Orientation Estimation
• IP-Basic (CRV 2018): In Defense of Classical Image Processing: Fast Depth Completion on the CPU

Other works that also use this visualization:

• AVOD
• MonoPSR

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Environment

Python 3.5.2 or 3.6

workon [virtualenvname]
pip install -r requirements.txt
add2virtualenv src

Or in PyCharm:

• Right-click src -> Mark Directory As -> Sources Root

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KITTI Setup

Download files and place them in ~/Kitti:

/home/$USER/Kitti
    object
    odometry
    raw

Optional Scripts

• Run depth completion
  • scripts/depth_completion/save_depth_maps_obj.py
  • scripts/depth_completion/save_depth_maps_raw.py
• Save the outputs into their corresponding Kitti folders. Ex.
  • obj: ~/Kitti/object/training/depth_2_multiscale
  • raw: ~/Kitti/raw/2011_09_26/2011_09_26_drive_0039_sync/depth_02_multiscale

Demos

• kitti_obj/view_sample_3d.py - view point cloud and boxes
• kitti_odometry/overlay_odom_point_clouds_orbslam.py
• kitti_raw/overlay_xxx.py - overlay point clouds from multiple frames
• kitti_raw/depth_completed_point_clouds.py - shows depth completed point clouds from IP-Basic

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nuScenes Setup

(Work in Progress)

• Add a symlink to the nuscenes data in data/dataset/nuscenes

Demos

• show_top_lidar.py: Show top LiDAR point cloud

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Argoverse Setup

• Add a symlink to the argoverse data in data/dataset/nuscenes
• Install the argoverse api from https://github.com/argoai/argoverse-api

Demos

• pointcloud_example.py: Show point cloud

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Controls:

• Drag: Rotate around focal point
• Scroll / Right click + drag: Zoom
• Middle click + drag / Shift + drag: Move camera
• Ctrl + drag: Rotate around camera axis

Keys:

• a: Toggle axes visibility
• t: Set camera to (0, 0, 0)
• r: Reset camera
• f: Set focal point to actor/point under mouse
• F1-F12: Toggle actor visibility
• 3: Red/Green 3D?
• s: Render as solids
• w: Render as wireframes