pylidarlib

Utilities for LIDAR data reading and transformation

Repo status

See which OS and Python versions combinations are supported here.

Getting started

Quick demo - PCAP to KITTI format

Convert your .pcap file collected with Velodyne HDL32e to KITTI compatiable format. Useful for using your own data with one of the KITTI benchmark algorithms for 3D object detection /segmentation.

import dpkt
from pylidarlib.io import HDL32e
import pylidarlib.transforms as PT

# compose a transformation pipeline PyTorch style
pipeline = PT.Compose([
    PT.AxisRotate(
        axis=[0, 0, 1],
        angle=0.7070
        ),
    PT.PolygonCrop(polygon=[
            [0.0, -10.0],
            [-4.0, 0.0],
            [-4.0, 5.0],
            [-20.0, 10.0],
            [-20.0, -12.0],
            [0.0, -32.0]
        ]),
    PT.Translate(x=5, y=-10)
])

# read UDP stream using any package you like, here dpkg is shown
with open("file.pcap", "rb") as fin:
    packet_stream = dpkt.pcap.Reader(fin)

    # feed the stream into cloud generator
    pc_generator = HDL32e.yield_clouds(packet_stream)

    # do something with the clouds
    for i, pc in enumerate(pc_generator):
        pc = pipeline.apply(pc)
        pc.data.astype(np.float32).tofile(f"data/cloud_{i}.bin")

Installation

Clone and install pylidarlib to your environment

git clone https://github.com/mihsamusev/pylidarlib.git
cd pylidarlib

Optionally create a conda environment

conda env create -f environment.yml

Or install requirements to an existing environment

pip install -r requirements.txt

Install the module itself using setup.py

pip install -e .

Run tests.

pytest