(
data_root="/ihoment/youjie10/qwt/dataset/nuscenes",
version='v1.0-trainval',
pkl="nuscenes_infos_10sweeps_description.pkl",
)
| 239 | return pointss |
| 240 | |
| 241 | def get_nuScenes_points( |
| 242 | data_root="/ihoment/youjie10/qwt/dataset/nuscenes", |
| 243 | version='v1.0-trainval', |
| 244 | pkl="nuscenes_infos_10sweeps_description.pkl", |
| 245 | ): |
| 246 | pkl_path = f"{data_root}/{version}/{pkl}" |
| 247 | with open(pkl_path, 'rb') as f: |
| 248 | infos = pickle.load(f) |
| 249 | |
| 250 | progress_bar = tqdm( |
| 251 | range(len(infos)), |
| 252 | dynamic_ncols=True, |
| 253 | ) |
| 254 | |
| 255 | pointss = [] |
| 256 | for info in infos: |
| 257 | lidar_path = info["lidar_path"] |
| 258 | lidar_path = f"{data_root}/{version}/{lidar_path}" |
| 259 | points = common.get_lidar_sweep(lidar_path, return_intensity=False, return_time=False,dim=5) |
| 260 | # points = normalize_point_cloud(points) |
| 261 | pointss.append(points) |
| 262 | progress_bar.update(1) |
| 263 | print(f"---- Reference : {len(pointss)} ----") |
| 264 | |
| 265 | return pointss |
| 266 | |
| 267 | SCENES = [0, 2, 3, 4, 5, 6, 7, 9, 10] |
| 268 |
no test coverage detected