def get_radar(self, idx): radar_file = os.path.join(self.radar_dir,'%06d.pcd' % idx) assert os.path.exists(radar_file) cloud = pypcd.PointCloud.from_path(radar_file) if (cloud.pc_data.ndim == 0): cloud.pc_data = np.array([cloud.pc_data]) pc = cloud.pc_data.view(np.float32).reshape(-1, 4) pc_rot = kitti_utils.trans_RSC_to_Kitti(pc[:, 0:3]) return pc_rot
def get_radar(idx): radar_dir = "/root/3D_BoundingBox_Annotation_Tool_3D_BAT/input/NuScenes/ONE/pointclouds_Radar" radar_file = os.path.join(radar_dir, '%06d.pcd' % idx) assert os.path.exists(radar_file) cloud = pypcd.PointCloud.from_path(radar_file) if (cloud.pc_data.ndim == 0): cloud.pc_data = np.array([cloud.pc_data]) pc = cloud.pc_data.view(np.float32).reshape(-1, 4) pc_rot = kitti_utils.trans_RSC_to_Kitti(pc[:, 0:3]) return pc_rot
def get_lidar(idx): lidar_dir = "/root/3D_BoundingBox_Annotation_Tool_3D_BAT/input/NuScenes/ONE/pointclouds" lidar_file = os.path.join(lidar_dir, '%06d.pcd' % idx) #print(lidar_file) assert os.path.exists(lidar_file) # TODO change to load the data from pcd file with pypcd DONE cloud = pypcd.PointCloud.from_path(lidar_file) rgb = pypcd.decode_rgb_from_pcl(cloud.pc_data['rgb']) pc = cloud.pc_data.view(np.float32).reshape(-1, 4) pc_rot = kitti_utils.trans_RSC_to_Kitti(pc[:, 0:3]) rgb_div = np.true_divide(rgb, 255) pts_input = np.concatenate((pc_rot, rgb_div), axis=1) return pts_input