(self, file_path: str)
| 44 | return self.read_point_cloud(self.scan_files[idx]) |
| 45 | |
| 46 | def read_point_cloud(self, file_path: str): |
| 47 | points = np.fromfile(file_path, dtype=np.float32).reshape((-1, 4))[:, :3] |
| 48 | timestamps = self.get_timestamps() |
| 49 | if points.shape[0] != timestamps.shape[0]: |
| 50 | # MuRan has some broken point clouds, just fallback to no timestamps |
| 51 | return points.astype(np.float64), np.array([]) |
| 52 | return points.astype(np.float64), timestamps |
| 53 | |
| 54 | @staticmethod |
| 55 | def get_timestamps(): |
no test coverage detected