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kaist-avelab / K-Radar

4D Radar Object Detection for Autonomous Driving in Various Weather Conditions
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how to get RPC file and other questions #33

Open ishuangfang opened 3 months ago

ishuangfang commented 3 months ago
  1. If I want to use Radar Point Cloud data instead of Radar Tensor, should I get the data from the folder in the Google Drive you provided?
  2. Can you provide the data format of Lidar Point Cloud, such as dimension and precision?
dIronmanb commented 1 month ago

Hello,

I am Heeyang Jung from the AVE Lab at KAIST. The answers to your question are as follows:

  1. Yes, you can download the radar point cloud from Google Drive. Each .zip file is named like 1p, 01p, 5p, etc., indicating the percentage of points with the highest power extracted from the radar tensor. For example, 5p means that the top 5% of points with the highest power were extracted.

  2. The file extension for the Lidar Point Cloud is '.pcd'. You can find it by extracting '1_lpc.zip' from Google Drive. You can view .pcd files directly in VS Code. Here is an example of a .pcd file from a 64-channel Ouster Lidar:

`

.PCD v0.7 - Point Cloud Data file format

VERSION 0.7 FIELDS x y z intensity t reflectivity ring ambient range SIZE 4 4 4 4 4 2 1 2 4 TYPE F F F F U U U U U COUNT 1 1 1 1 1 1 1 1 1 WIDTH 2048 HEIGHT 64 VIEWPOINT 0 0 0 1 0 0 0 POINTS 131072 DATA ascii -0 0 0 1 0 0 0 32 0 ... `

Additionally, the code to load .pcd files can be found here. You can refer to PointCloudPcd.

Thanks