Legacy Obstacle Data Converter

Convert legacy bounding_boxes_and_velocities data to tracked-objects format for use with the Nodar Viewer.

Build

mkdir build
cd build
cmake ..
cmake --build . --config Release

Usage

# Linux
./legacy_obstacle_data_converter <data_directory> [output_directory]

# Windows
./Release/legacy_obstacle_data_converter.exe <data_directory> [output_directory]

Parameters

  • data_directory: Path to directory containing bounding_boxes_and_velocities folder from Hammerhead
  • output_directory: Optional output directory (defaults to tracked-objects folder in data_directory)

Examples

# Convert legacy data with default output location
./legacy_obstacle_data_converter /path/to/hammerhead/data

# Convert legacy data to specific output directory
./legacy_obstacle_data_converter /path/to/hammerhead/data /path/to/output

Output

  • Format: Tracked-objects data files
  • Location: tracked-objects folder in data directory (or specified output directory)
  • Naming: Maintains original data naming convention

Features

  • High-performance C++ implementation for fast batch conversion
  • Convert legacy bounding_boxes_and_velocities data to modern tracked-objects format
  • Compatible with Nodar Viewer for displaying object bounding boxes
  • Preserves object tracking information and velocity data
  • Efficient processing of large datasets

Use Case

This converter is needed when working with older Hammerhead data that used the legacy bounding_boxes_and_velocities format. The converted tracked-objects data can be displayed in the Nodar Viewer for visualization of detected objects with their bounding boxes and tracking information.

Requirements

  • Data directory must contain bounding_boxes_and_velocities folder
  • Legacy data must be in the expected format from older Hammerhead versions

Troubleshooting

  • Missing legacy folder: Ensure bounding_boxes_and_velocities folder exists in data directory
  • File overwrite warning: Existing files in output directory will be overwritten
  • Format errors: Ensure legacy data is in the expected format from older Hammerhead versions

Press Ctrl+C to stop conversion.