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Generated Data
The KITTI data does not provide all the data types we would like to demonstrate. Specificially data related how it makes predictions about objects and makes plans based on those predictions.
For the sake of demonstration purposes we have generated additional from the base KITTI data set to showcase a features to show how XVIZ can be used in a more complete data environment.
The KITTI converter has an option --fake-streams that can be used to output additional XVIZ stream
described below.
Vehicle trajectory path
The KITTI data does not provide any planning information which is common in systems. However we can use the stored location information to generate a trajectory to preview as though it was the planned trajectory.
The /vehicle/trajector is generated by looking into the future known position of he vehicle and
generating a polyline to show the path that would be taken.
Variables
The planning process of a system deals with the future timeline in order to make decisions now. Unlike time_series data in XVIZ, variable provide the mechanism for capturing this future timeline metric information for a given timestamp.
Multiple streams with the /motion_planning prefix will be generated to show additional plot
capabilties.
Objects future_instances
Similar to how variables provide you the ability to capture metrics over future timeline, future_instances provide the same ability for primitive objects.
This data always generated in the KITTI stream `/tracklets/objects/futures'. This can be seen in the streetscape.gl sample application using the slider under the playback control in the lower right.