def merge_records_lidar(
records_lidar_list: List[Optional[kapture.RecordsLidar]]
) -> kapture.RecordsLidar:
"""
Merge several lidar records lists. For lidar record with the same timestamp and sensor identifier,
keep only the first one.
:param records_lidar_list: list of lidar records
:return: merged lidar records
"""
assert len(records_lidar_list) > 0
merged_records_lidar = kapture.RecordsLidar()
for records_lidar in records_lidar_list:
if records_lidar is None:
continue
for timestamp, sensor_id, filename in kapture.flatten(records_lidar):
if (timestamp, sensor_id) in merged_records_lidar:
continue
merged_records_lidar[(timestamp, sensor_id)] = filename
return merged_records_lidar
def records_lidar_from_file(
filepath: str,
lidar_ids: Optional[Set[str]] = None
) -> kapture.RecordsLidar:
"""
Reads records_lidar from CSV file.
:param filepath: input file path
:param lidar_ids: input set of valid device ids. Any record of other than the given ones will be ignored.
If omitted, then it loads all devices.
:return: Lidar records
"""
records_lidar = kapture.RecordsLidar()
with open(filepath) as file:
table = table_from_file(file)
# timestamp, device_id, point_cloud_path
for timestamp, device_id, point_cloud_path in table:
if lidar_ids is not None and device_id not in lidar_ids:
# just ignore
continue
records_lidar[(int(timestamp), str(device_id))] = point_cloud_path
return records_lidar
def merge_records_lidar(
records_lidar_list: List[Optional[kapture.RecordsLidar]],
sensor_mappings: List[Dict[str, str]]) -> kapture.RecordsLidar:
"""
Merge several lidar records list into one list with new identifiers for the sensors.
:param records_lidar_list: list of lidar records to merge
:param sensor_mappings: mapping of the sensor identifiers to their new identifiers
:return: merged lidar records
"""
assert len(records_lidar_list) > 0
assert len(records_lidar_list) == len(sensor_mappings)
merged_records_lidar = kapture.RecordsLidar()
for records_lidar, sensor_mapping in zip(records_lidar_list,
sensor_mappings):
if records_lidar is None:
continue
for timestamp, sensor_id, filename in kapture.flatten(records_lidar):
new_sensor_id = sensor_mapping[sensor_id]
merged_records_lidar[(timestamp, new_sensor_id)] = filename
return merged_records_lidar
def test_init_lidar(self):
records_lidar = kapture.RecordsLidar()
def test_init_lidar(self):
records_lidar = kapture.RecordsLidar()
self.assertIsNotNone(records_lidar, "Records Lidar created")