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.

Now tool testing for KITTI label support.

supported functions

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

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