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)