This repository contains scripts for inspection of the KITTI-360 dataset. This large-scale dataset contains 320k images and 100k laser scans in a driving distance of 73.7km. We annotate both static and dynamic 3D scene elements with rough bounding primitives and transfer this information into the image domain, resulting in dense semantic & instance annotations on both 3D point clouds and 2D images.

Details and download are available at: www.cvlibs.net/datasets/kitti-360

Dataset structure and data formats are available at: www.cvlibs.net/datasets/kitti-360/documentation.php

Install cityscapesscripts with pip

python -m pip install kitti360scripts

For the 2D graphical tools you additionally need to install

sudo apt install python-tk python-qt5

We use open3D to visualize 3D point clouds and 3D bounding boxes:

pip install open3d

This scripts contains helpers for loading and visualizing our dataset. For inspection, please download the dataset and add the root directory to your system path at first:

export KITTI360_DATASET=/PATH/TO/THE/DATASET

You can inspect the 2D images and labels using the following tool:

cd kitti360scripts/viewer
python kitti360Viewer.py

You can visualize the 3D fused point clouds and labels using the following tool:

cd kitti360scripts/viewer
python kitti360Viewer3D.py -sequence ${sequence}

The package is structured as follows

• helpers: helper files that are included by other scripts
• viewer: view the 2D image & labels and the 3D fused point clouds & labels

Note that all files have a small documentation at the top. Most important files

• helpers/labels.py: central file defining the IDs of all semantic classes and providing mapping between various class properties.
• helpers/annotations.py: central file containing the loaders for all labels including 3D bounding boxes and fused point clouds

The 2D graphical tool is adapted from Cityscapes.

Please feel free to contact us with any questions, suggestions or comments:

• Yiyi Liao, Andreas Geiger
• [email protected], [email protected]
• www.cvlibs.net/datasets/kitti-360