troiwill/build-lidar-2d-bev-data

Generates 2D bird's eye view (BEV) images of individual LiDAR scans and aggregates individual scans to produce BEV maps.

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Description

This repository builds a program that:

1. Creates 2D bird's eye view (BEV) images of online LiDAR scans,
2. Aggregates 2D BEV images to create a BEV map, and
3. Outputs a information file (info.txt) that relates each BEV scan to a pixel position in the BEV map.

Instructions

Building the program.

1. Install Anaconda Python.
2. Clone this repository.
3. Execute the following commands:

# Change into repo.
cd build-lidar-2d-bev-data

# Set up environment.
source env/start_env.sh
bash env/install_packages.sh

# Build the program.
mkdir -p build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=../bin
make -j && make install

Running the program.

To run the program:

1. Go to the bin directory in the repo. That is, cd bin from repo root.
2. Run ./build_kitti_bev_data --basedir <basedir> --savedir <savedir> --res <res> ... with your choice of the remaining arguments.