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