Open Sibozhu opened 4 years ago
Also, I found code for BufferedImageSaver
from somewhere else, but couldn't find BufferedLidarSaver
, is this a necessary function for generating lidar point cloud?
Hi, @Sibozhu! Can I ask a question about the recompile? Except for copy the uasset files in the folder, do we need to change anything in the project file for recompiling Carla? Because after I recompile Carla, I still can't use the normal camera in the file. And I opened the unreal project file. I found the project didn't load the new uasset file.
Thank you!
@maskjp ,have you tried issue #2 ?
Hi, @Sibozhu! Thank you for your reply. Yes, I deleted the build folder and run the make clean command, but the project still can't load the normal camera and others. I only want to use the lidar semantic so I removed code related, to these sensors. But I found the code only can save the image. And no code saves the lidar data.
Btw, saving images seems not to require BufferedImageSaver.
@maskjp You are absolutely right, using BufferedImageSaver will save the image into .ply format, which is the ideal format that we want to save lidar point cloud into. I believe the BufferedLiDARSaver is code modified from BufferedImageSave.
project can't load normal cameras
meaning you still can't save images?
If you are looking for a codebase that compiles and can generate rgb and depth image (semantic segmentation image still need to be post-processed, which we can make it generated in real-time in the future), you can try my fork. We can work on making the codebase clean and functioning together and submit pull request to @Tom-Huang in the end. (also added autopilot feature so the simulated agent can have some driving footage)
@maskjp You are absolutely right, using BufferedImageSaver will save the image into .ply format, which is the ideal format that we want to save lidar point cloud into. I believe the BufferedLiDARSaver is code modified from BufferedImageSave.
project can't load normal cameras
meaning you still can't save images?If you are looking for a codebase that compiles and can generate rgb and depth image (semantic segmentation image still need to be post-processed, which we can make it generated in real-time in the future), you can try my fork. We can work on making the codebase clean and functioning together and submit pull request to @Tom-Huang in the end. (also added autopilot feature so the simulated agent can have some driving footage)
@Sibozhu Thank you for your reply! I mean, the Unreal engine project can't load newly added uassets even after I deleted all the intermediate files and recompile the Carla. But I am currently interested in getting labeled lidar data, so I may don't need the four new uassets.
BTW, to save lidar point cloud, I found a sample code in carla and the save_to_disk method.
@maskjp You are absolutely right, using BufferedImageSaver will save the image into .ply format, which is the ideal format that we want to save lidar point cloud into. I believe the BufferedLiDARSaver is code modified from BufferedImageSave.
project can't load normal cameras
meaning you still can't save images? If you are looking for a codebase that compiles and can generate rgb and depth image (semantic segmentation image still need to be post-processed, which we can make it generated in real-time in the future), you can try my fork. We can work on making the codebase clean and functioning together and submit pull request to @Tom-Huang in the end. (also added autopilot feature so the simulated agent can have some driving footage)@Sibozhu Thank you for your reply! I mean, the Unreal engine project can't load newly added uassets even after I deleted all the intermediate files and recompile the Carla. But I am currently interested in getting labeled lidar data, so I may don't need the four new uassets.
BTW, to save lidar point cloud, I found a sample code in carla and the save_to_disk method.
Thanks! @maskjp This is definitely helpful!
Dear @Tom-Huang ,
Thanks for the previous help in compiling your code.
In the README, you said
You can modify the code to generate the lidar point cloud
, can you actually point out which of those lines to be uncomment? I found there's a function calledlidar_saver
but it isn't being called anywhere.Once I can save and generate the correct lidar point cloud with semantic label, I'll clean up the code and submit a pull request to you, so people in the future can benefit as well.
Best, Sibo