Mapping additional Data

[melihyazgan]

Hi, thank you for the framework! I want to map bev_static_png, which is road segmentation, available in additional data file in google drive, to the lidar point clouds to distinguish road and non-road points. To do that I thought the additional.yaml file can give me the calibration parameters but the yaml file is not understandable. For example:

bev_sem_cam:
  cords:
  - -167.9626007080078
  - 250.52484130859375
  - 115.91366577148438
  - -177.92543029785156
  - 177.96302795410156
  - -90.0
  intrinsic: !!python/object/apply:numpy.core.multiarray._reconstruct
    args:
    - *id001
    - !!python/tuple
      - 0
    - !!binary |
      Yg==
    state: !!python/tuple
    - 1
    - !!python/tuple
      - 3
      - 3
    - *id003
    - false
    - !!binary |
      5p0/M09Qg0AAAAAAAAAAAAAAAAAAAHBAAAAAAAAAAADmnT8zT1CDQAAAAAAAAHBAAAAAAAAAAAAA
      AAAAAAAAAAAAAAAAAPA/

Am I missing something? Can anyone give me a hint? Regards, Melih

[RadetzkyLi]

When dumping a yaml file, if there are special data structures (e.g., array of NumPy, tuple of Python), then you will see understandable characters as you show after opening it using editor. Solution: use load_yaml in opencood to load the file. The data would be correct and one can print them for checking. If you want to see the value conveniently, load yaml --> convert to yaml built-in data structures --> dump yaml.