Coloradar Dataset Library

Here you will find a suite of tools designed to work with the ColoRadar Dataset.

• Build Options
  • 1. Pre-built Images
  • 2. Building Your Own Images
  • 3. Local Build

Build Options

1. Pre-built Images

Login to the Github container Registry:

docker login ghcr.io

Pull an image:

docker pull ghcr.io/arpg/coloradar-lib:{<X.Y>}{-<ros_distro>}

Example:

docker pull ghcr.io/arpg/coloradar-lib:12.6-jazzy

Available Image Configurations

ros_version	OS	Python	Cuda
humble	Ubuntu 22.04 Jammy	3.10	12.6, 12.8, none
jazzy	Ubuntu 24.04 Noble	3.12	12.6, 12.8, none
none	Ubuntu 24.04 Noble	3.12	12.6, 12.8, none

System Requirements for Using Images

• OS: Linux/Mac
• Docker: Version 20.10+
• NVIDIA GPU Drivers (Optional): Compatible with the chosen CUDA version
• NVIDIA Container Toolkit (Optional): For GPU support in Docker

2. Building Your Own Images

Run the provided script to build an image for your desired ROS and CUDA versions

python3 build.py --ros <ros_distro> --cuda <cuda_version>

• <ros_distro>: ROS distribution (e.g., noetic, humble, jazzy). Leave empty or use none for no ROS.
• <cuda_version>: CUDA version in X.Y format (e.g., 12.4). Use none to skip CUDA.

Examples:

• Build with ROS Noetic with CUDA 12.4:

  python3 build.py --ros noetic --cuda 12.4

• Build ROS Humble while detecting the local CUDA version:

  python3 build.py --ros humble

• Build without ROS or CUDA:

  python3 build.py --ros none --cuda none

Note: the CUDA-ROS base images are pulled from my dockerhub.

3. Local Build

mkdir build && cd build
cmake ..
make

Requirements:

• Linux/Mac
• GCC v.10-12
• BOOST 1.78+
• open-mpi
• VTK
• openCV
• PCL v.1.12+
• octomap
• Yaml-cpp
• (optional) PyBind11 v.2.6+

Running tests from project root:

./build/coloradar_tests
python3 tests/test_bindings.py

Reference

@article{Harlow2024ARXIV, 
   title   = {ColoRadar+: An extension of the dense
millimeter-wave radar dataset ColoRadar}, 
   author  = {Kyle Harlow, Doncey Albin, Miles Mena}, 
   journal = {arXiv preprint arXiv:####.#####},
   year    = {2024}, 
}