Viewing the generated XVIZ

This article describes details to visualize the KITTI data set. You will need to:

Download the KITTI data
Convert it to XVIZ format
Start a streaming server
Build and start the streetscape.gl UI application.

These steps are handled for you if you have used the Quick Start steps. Here we will go into additonal detail and cover some available options.

Convert KITTI to XVIZ Format

$ cd examples/converters/kitti
$ yarn  # install dependencies
$ yarn start -d 2011_09_26/2011_09_26_drive_0005_sync

To see a full list of options of the converter, run yarn start --help.

-d, --data-directory Path to raw KITTI data. Relative path will resolved relative to /data/kitti/
-o, --output Path to generated data. Relative path will resolved relative to /data/generated/kitti/
--disable-streams Comma separated stream names to disable
--frame-limit Limit XVIZ frame generation to this value. Useful testing conversion quickly
--image-max-width max width allowed with aspect ratio preserved. Default is 400.
--image-max-height max height allowed with aspect ratio preserved Default is 300.

Image resizing

The converter script also provides image resizing options --image-max-width and --image-max-height.

If both image-max-width and image-max-height are provided, will resize the image as large as possible with ratio preserved.

Disable cameras

The converter script option disable-streams allows user to select certain cameras to display, by default all the four cameras image_00, image_01, image_02, image_03 will be converted to xviz format.

example

$ yarn start -d 2011_09_26/2011_09_26_drive_0005_sync --image-max-width=300 --disable-streams=image_01,image_02

Start Stream Server

Run the example XVIZ server to serve your converted data:

$ cd examples/server
$ yarn  # install dependencies
$ yarn start -d kitti/2011_09_26/2011_09_26_drive_0005_sync

To see a full list of options of the stream server, run yarn start --help.

Start Client Application

See streetscape.gl starter kit.

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