@magical1998 pls provide a working code snippet to reproduce your issue

from nuscenes-devkit.

import numpy as np

调用函数，替换'your_file.bin'为你的文件路径

file_path='I:/data/sets/nuscenes/samples/LIDAR_TOP/'
label_path='I:/data/sets/nuscenes/lidarseg/v1.0-trainval/'
points=np.fromfile(file_path+'n015-2018-07-24-10-42-41+0800__LIDAR_TOP__1532400339698223.pcd.bin',dtype=np.float32)
labels=np.fromfile(label_path+'8b31aa5cac3846a6a197c507523926f9_lidarseg.bin',dtype=np.float32)
print(labels)

from nuscenes-devkit.

Hello, the point cloud file and the label file are the corresponding files found through the .json file. If the point cloud file has one point for every four digits, the final number of point clouds will still be four times the number of labels. I am not sure. The reasons, I hope to receive your answer

from nuscenes-devkit.

@magical1998 I'm afraid I cannot reproduce your error:

import os.path as osp

import numpy as np
from nuscenes.utils.data_classes import LidarPointCloud


nusc_data_root = '/data/sets/nuscenes'

# Load pointcloud.
pcl_path = osp.join(nusc_data_root, 'samples/LIDAR_TOP/n015-2018-07-24-10-42-41+0800__LIDAR_TOP__1532400339698223.pcd.bin')
pc = LidarPointCloud.from_file(pcl_path)
points = pc.points.T
print(points.shape)  # (34752, 4)

# Load labels.
lidarseg_labels_filename = osp.join(nusc_data_root, 'lidarseg/v1.0-trainval/8b31aa5cac3846a6a197c507523926f9_lidarseg.bin')
points_label = np.fromfile(lidarseg_labels_filename, dtype=np.uint8)
print(points_label.shape)  # (34752,)

assert len(points) == len(points_label)

from nuscenes-devkit.