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point cloud annotation tool

It is a tool used to annotate 3D box in point cloud. Point cloud in KITTI-bin format is supported. Annotation format is the same as Applo 3D format. Data examples can be found at here.

supported functions

  • load, save, visiualize
  • point cloud selection
  • 3d box generation and adaption
  • ground remove using threhold or plane detect

usage

  • if cloud.bin is open, then cloud.bin.txt will be the annotation file to be loaded if exist.
  • click to select an annotaion, then edit it, rotate it or just press 'Del' to delete.
  • 'x' to toggle selection mode,then left click with ctrl or shift to help select.
  • click label button to annotate a 3D box.

dependency

Tested with pcl 1.8, vtk 8.1, Qt5 under both ubuntu 16.04 and windows 10. to build:

mkdir build && cd build && cmake .. && make

example1 image example2 image

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  • C++ 95.8%
  • CMake 4.2%