Python load_velo_scan Beispiele

Beispiel #1

Datei: odometry.py Projekt: jtpils/LaneMapper

 def get_velo(self, idx):
     """Read velodyne [x,y,z,reflectance] scan at the specified index."""
     return utils.load_velo_scan(self.velo_files[idx])

Beispiel #2

Datei: odometry.py Projekt: utiasSTARS/pykitti

 def get_velo(self, idx):
     """Read velodyne [x,y,z,reflectance] scan at the specified index."""
     return utils.load_velo_scan(self.velo_files[idx])

Beispiel #3

Datei: oxts_pc_visualizer_test.py Projekt: zhouleidcc/waymo_kitti_converter

		tf_p = np.matmul(tf, p)
		tf_p = tf_p[0:3] / tf_p[3]
		tf_pc.append(tf_p.tolist())
	return tf_pc		


if __name__ == '__main__':
	oxts_pathnames = sorted(glob(join(oxts_load_dir, '*.txt')))
	oxts_all = utils.load_oxts_packets_and_poses(oxts_pathnames)

	pc_all = []
	oxts_pathnames = oxts_pathnames[:1]
	for i, oxts_pathname in enumerate(oxts_pathnames):
		stem, ext = splitext(basename(oxts_pathname))
		pc_pathname = join(pc_load_dir, stem+'.bin')
		pc = utils.load_velo_scan(pc_pathname)
		
		oxts = oxts_all[i]
		#print(type(oxts))	
		tf = oxts[1]
		#print(tf)
		
		tf_pc = transform(pc, tf)
		
		pc_all += tf_pc

	pcd = o3d.geometry.PointCloud()
	print(np.array(pc_all).shape, np.array(pc_all).dtype)
	pcd.points = o3d.utility.Vector3dVector(np.array(pc_all))
	o3d.visualization.draw_geometries([pcd])