Comments (7)
Hi,
that is actually a good question! The .pcd.bin
extension is a bit confusing. Essentially we took a .pcd
file, removed the headers and saved the data in binary format. You can see how we load it here. So the LIDAR data is simply a bunch of float32 = 4 Bytes and each point is described by 5 floats. The following code in Python would print out the numbers:
import numpy as np
file_path = '/data/nuscenes/samples/LIDAR_TOP/n015-2018-07-18-11-50-34+0800__LIDAR_TOP__1531886224949600.pcd.bin'
with open(file_path, "rb") as f:
number = f.read(4)
while number != b"":
print(np.frombuffer(number, dtype=np.float32))
number = f.read(4)
Now you just need to implement that in C++.
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Hi @dada9375,
yes, we changed the folder structure a bit. It is now under: https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/nuscenes/utils/data_classes.py#L249
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Thank you for the quick response, just one more question: what are the fields of the points? x ,y ,z and intensity I supose, but what is the 5th field?
Thank you again!
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As described at https://github.com/nutonomy/nuscenes-devkit/blob/radar-visualization/python-sdk/nuscenes_utils/data_classes.py#L228 , that's the ring index (an integer between 0 and 31). We do not currently use it.
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Oh okey thank you so much!!
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Hi Holger,
unfortunately I cannot find the page https://github.com/nutonomy/nuscenes-devkit/blob/radar-visualization/python-sdk/nuscenes_utils/data_classes.py#L228
Was it removed?
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Thanks Holger
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Related Issues (20)
- about render_egoposes_on_map HOT 4
- translation matrix for camera sensors is with respect to the center of the rear axle? HOT 2
- How the point cloud semantically segmented file is encoded? HOT 1
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- Conert radar to lidar problems HOT 3
- Is 1000hz imu data available? HOT 1
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- The number of points is inconsistent with the number of labels HOT 4
- Is there C++ version to read the data HOT 1
- Rotation problem of point cloud object detection HOT 2
- Alignment of multi-frame radar dynamic object data HOT 4
- When v1.1.13 will be released in PyPI ? HOT 2
- pip install failed HOT 5
- nuScenes-lidar Annotation file HOT 1
- Navigation. How can I get waypoints from (x1,y1) to (x2 y2) in nuscenes map HOT 5
- Cannot download anything HOT 6
- how does the start angle and end angle of the lidar to project to the image with the moving object HOT 1
- can_bus assignment to key frames? HOT 1
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- Height of front camera HOT 2
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