CustomWriter for LIDAR Pointclouds

Hello all!

For my object detection I want to generate from a lidar sensor 3D pointclouds and annotate them directly. However, I have not seen any opportunity to do so and want to kindly ask if someone can help me out where to start and what steps are required.

Is it anyway possible to write the pointcloud data in a known format that can be further used for training?

Thank you in advance!

Best Regards,
Christof Schützenhöfer

In addition, I would like to know how to annotate the pointclouds (3d bounding Box). Can I simply use the available annotator?

Can anyone help me here?

Hi Christof, the output of current point cloud annotator is calculated based on the distance from the camera to the object, so you can assume it is like a lidar 3D pointclouds. In terns of annotation, what data would you like to annotate to the points? Pointcloud and 3d bbox are two different annotators, but you can find a mapping using their semantic ids.

Thanks for the response!

Using a lidar sensor, I would like to annotate objects in my pointcloud using bounding boxes.

Unfortunately, it does not seem to work with the currently available annotators. I only got nodes in the omnigraph that are not connected.

Do you have any working example for lidar sensors and 3D bounding boxes?