It is a tool used to annotate 3D box in point cloud. Point cloud in KITTI-bin format is supported. Annotation format is the same as Applo 3D format. Data examples can be found at here.
Tested with pcl 1.8, vtk 8.1, Qt5 under both ubuntu 16.04 and windows 10. to build:
mkdir build && cd build && cmake .. && make