first_sample_token = my_scene[
'first_sample_token'] # scene.json 中第一个元素组中的 first_sample_token
# sample.json 中第一帧的所有元素(token、timestamp、prev、next、scene_token) 和
# 汽车所有传感器对应的数据
my_sample = nusc.get('sample', first_sample_token)
print('my_sample\n', my_sample)
# 只取汽车所有传感器对应的数据的方法 print('my_sample\n', my_sample['data'])
# 只取CAM_FRONT 的方法
# sensor = 'CAM_FRONT'
# cam_front_data = nusc.get('sample_data', my_sample['data'][sensor])
# print(cam_front_data)
# 以此类推
# 获取传感器对应的标注框的方法(以前一个例子为例)[可视化]
# nusc.render_sample_data(cam_front_data['token'])
nusc.list_sample(
my_sample['token']) # 列出了与示例相关的所有sample_data关键帧和sample_annotation
my_annotation_token = my_sample['anns'][
18] # 取第19个 sample_annotation_token（其它的好像没标注好）
my_annotation_metadata = nusc.get(
'sample_annotation',
my_annotation_token) # 得到第一个的详细注释 sample_annotation.json 的一个元素组
print('\nmy_annotation_metadata\n', my_annotation_metadata)
# nusc.render_annotation(my_annotation_token) # [可视化]
my_instance = nusc.instance[599] # instance.json 的 4196 行开始 ？
print('my_instance\n', my_instance)
nusc = NuScenes(
version='v1.0-mini',
dataroot='C:/Users/chase/OneDrive - Clemson University/Perception/Q4',
verbose=True)
nusc.list_scenes()
my_scene = nusc.scene[0]
my_scene
first_sample_token = my_scene['first_sample_token']
# The rendering command below is commented out because it tends to crash in notebooks
# nusc.render_sample(first_sample_token)
my_sample = nusc.get('sample', first_sample_token)
my_sample
nusc.list_sample(my_sample['token'])
my_sample['data']
sensor = 'CAM_FRONT'
cam_front_data = nusc.get('sample_data', my_sample['data'][sensor])
cam_front_data
nusc.render_sample_data(cam_front_data['token'])
my_annotation_token = my_sample['anns'][18]
my_annotation_metadata = nusc.get('sample_annotation', my_annotation_token)
my_annotation_metadata
nusc.render_annotation(my_annotation_token)