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autonomousvision / kitti360Scripts

This repository contains utility scripts for the KITTI-360 dataset.
MIT License
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Read Raw SICK scans #85

Closed zhihao-lin closed 1 year ago

zhihao-lin commented 1 year ago

Hi, thanks a lot for this great dataset! Currently I'm trying to read Raw SICK scans (.bin) and create sparse depth maps, which is similar to the data provided by PanopticNeRF (https://drive.google.com/file/d/1oJF8e5m4yPrRArn6EPmqXguIl-au2FnT/view?usp=sharing). However, I tried to read .bin files with

import numpy as np
points = np.fromfile('0000000000.bin', dtype=np.float32)

but the array turns out to be in length = 182 that is not divided by 3 or 4 Same issues happen to other files. How can I interpret the data correctly? Thank you!

yiyiliao commented 1 year ago

Hi, thank you for your interest in our dataset! Here we provide code for loading the raw SICK scans: https://github.com/autonomousvision/kitti360Scripts/blob/master/kitti360scripts/viewer/kitti360Viewer3DRaw.py#L56-L63

Note that the SICK LiDAR scanner is a 1-D scanner and thus the data is two-dimensional. You may find the accumuLaser useful for converting SICK scans to the world coordinate.

zhihao-lin commented 1 year ago

Thank you very much for replying! This information is very helpful