Convert supervisely to KITTI

Convert LiDAR pointclouds and their annotations from Supervisely to KITTI format.

It converts pointclouds from .pcd format to .bin format and converts annotations from .json format to .txt format.

The annottaions format in the .txt files will be as the following example:

# format: [x y z dx dy dz heading_angle category_name]
0.24 0.18 0.53 0.45 1.77 0.67 1.51 human

Run the code

1. Install the requirements from requirements.txt using pip install -r requirements.txt.
2. The folders and files directories should be organised as follows:

Supervisly_folder
├── pointcloud
│   ├── 1.pcd
│   ├── 2.pcd
│   ├── ...
├── ann
│   ├── 1.json
│   ├── 2.json
│   ├── ...
├── meta.json

KITTI_folder
├── pointcloud
│   ├── 1.bin
│   ├── 2.bin
│   ├── ...
├── ann
│   ├── 1.txt
│   ├── 2.txt
│   ├── ...

4. Run the conversion code using

python convert_main.py --input_path=Supervisely folder path that contains pointcloud folder, json folder, and meta file 
                       --output_path=KITTI folder path that will contain bin folder and txt folder