WADDA
Wind's Autonomous Driving Development Art
This repository provides some handy tools and useful libraries
| Tools | Description |
|---|---|
| pcd visualizer | view point cloud files |
| gif generator | generate gif from image or point cloud |
| data collection | record data via ros |
| voc2coco | convert standard voc format dataset to coco format |
| ros visualizer | convert the common message format of ros to marker for visualization |
| Libs | Description |
|---|---|
| pypcd | libraries for working with point clouds |
Install
sudo apt install ros-xxx-foxglove-msgs # xxx can be noetic, melodic, etc.
pip3 install waddaThe following is a brief introduction to its simple usage. For more advanced usage, please refer to its documentation.
Simple Usage
wadda [function_name] [path]pcd visualizer
-
path : pcd file or the folder containing the pcd file
-
tricks：If viewing a folder containing pcd files, use the "space" and "z" keys to control viewing the next and previous frames, and the "q" key to exit
wadda pcd . # view pcd file or pcd folderdata collection
-
path：Specify the path where you want the data to be stored
-
pro：For advanced usage, please refer to the doc
wadda dc . # By filtering the default ros message type, and then store the datagif generator
All folders under this path will be traversed. If a folder contains images or point cloud files, a gif will be generated with the name of the folder and stored in its parent directory
- path：Want to traverse the root path of the generated gif
wadda gif . # generator gif from specify pathvoc2coco
-
path：The path where the standard voc format data set is located
path ├── Annotations ├── coco ├── ImageSets ├── JPEGImages └── labels.txt
-
labels.txt ：The labels.txt file must be included, and its content is the name of the category, which is used to map from class name to label id when converting to coco
class_name_0 class_name_1 class_name_2 ...
wadda v2c . # convert voc to cocoros visualizer
- pro：For advanced usage, please refer to the doc
wadda ros # start ros visualizer for converting ros msgpypcd
from wadda import pypcd
# parse ros pointcloud2 data
pc = pypcd.PointCloud.from_msg(data)
x = pc.pc_data['x']
y = pc.pc_data['y']
z = pc.pc_data['z']
# parse pcd format file
pc = pypcd.PointCloud.from_path('foo.pcd')
x = pc.pc_data['x']
y = pc.pc_data['y']
z = pc.pc_data['z']
