what to do with kitti data and calibration files ?

[dlounis]

Hi,

I've downloaded Kitti data and I managed to display point clouds and color images.

I tried to perform detection and I managed to display bounding boxes from dpm_ttic car/pedestrian detector. They do not look correct in my sense.

Besides this, I'd like to know what we can perform with this data and if the calibration files are of some interest or not ? Why and how to use them ?

Thanks.

[dejanpan]

@dlounis can you please provide material to replicate your experiment:

• which datasets did you download
• how do you play them back
• which nodes (launch files) are you running
• develop branch of Autoware?

[dlounis]

@dejanpan Sorry for the delay. I was very busy lately. What I said in my question is true for both master and develop branches. I've used these datasets : 2011_09_26_drive_0014_sync 2011_09_26_drive_0091_sync and 2011_09_26_drive_0093_sync

I am not using a launcher to play the data. Rather, I do use a tool that transforms kitti data to bag files https://github.com/tomas789/kitti2bag (I've already used the kitti_player launcher before, but I find it more convenient to have a bag file in order to take advantage of AW's GUI).

When I display detection bounding boxes: those that are on the left/right ends of the image don't match the positions of the detected objects. Rather, the boxes are slightly shifted towards the center of the scene. It makes me think of some kind of rectification or calibration that is not taken into account by AW's image viewer. Because: for objects that do not lie in the extremities, the bounding boxes fit the detected objects well.

Thanks.

[amc-nu]

we don't use the kitti2bag tool. What I can think is that the image being fed to the detector is not the same one as the one being displayed in the viewer.