# In[39]: #c #level5data.render_sample_data(my_sample_data['prev'],underlay_map = True) #level5data.render_sample_data(my_sample_data['token'],0,0,40,None,1,'/home/ee904-pc4/dataset/',0) #while my_sample_data : #print("aaa") #my_sample_data = level5data.get('sample_data', my_sample['data'][sensor_channel]) # next_sample_data = level5data.get('sample_data', my_sample_data["next"]) # level5data.render_sample_data(next_sample_data['token'],0,0,40,None,1,'/home/ee904-pc4/dataset/',0) # my_sample_data = next_sample_data #my_sample_data['token'] = my_sample_data['next'] #level5data.render_sample_data(my_sample_data['next'],underlay_map = True) ''' # ### 4. `sample_annotation` # `sample_annotation` refers to any ***bounding box defining the position of an object seen in a sample***. All location data is given with respect to the global coordinate system. Let's examine an example from our `sample` above. # In[ ]: my_annotation_token = my_sample['anns'][16] my_annotation = my_sample_data.get('sample_annotation', my_annotation_token) #my_annotation # We can also render an annotation to have a closer look.
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) my_instance = nusc.instance[599] my_instance instance_token = my_instance['token'] nusc.render_instance(instance_token) print("First annotated sample of this instance:") nusc.render_annotation(my_instance['first_annotation_token']) print("Last annotated sample of this instance") nusc.render_annotation(my_instance['last_annotation_token']) nusc.list_categories() nusc.category[9]