# point-cloud-annotation-tool

**Repository Path**: xoenmap/point-cloud-annotation-tool

## Basic Information

- **Project Name**: point-cloud-annotation-tool
- **Description**: qt+pcl+vtk用于点云标注，可用于win/linux
- **Primary Language**: C++
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 3
- **Created**: 2022-05-16
- **Last Updated**: 2022-05-16

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

##  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](http://data.apollo.auto/help?name=data_intro_3d&data_key=lidar_obstacle_label&data_type=0&locale=en-us&lang=en).

### 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](example1.png) ![example2 image](example2.png)