Open ishuangfang opened 3 months ago
Hello,
I am Heeyang Jung from the AVE Lab at KAIST. The answers to your question are as follows:
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.
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:
`
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