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lyft / nuscenes-devkit

Devkit for the public 2019 Lyft Level 5 AV Dataset (fork of https://github.com/nutonomy/nuscenes-devkit)
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Feature request: Add function to merge the data from 3 lidars. #27

Open ternaus opened 4 years ago

ternaus commented 4 years ago
lopuhin commented 4 years ago

Thanks for filing @ternaus

In more detail

No function to merge the data from 3 lidars.

Would be cool to have a way to have an easy way to load points from a lidar and transform them to car coordinates.

We load huge json which takes a while. It is not always needed.

That's not easy to fix, but ideally the data could be in a more python-friendly format - right now it takes about 10 seconds to load and takes 2 GB of RAM, but most of that data could be kept as numpy arrays which would be very fast to load and keep much less RAM. I'll probably try doing something like that and will post results if I get to it.