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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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where is point's intensity #3

Open bigsheep2018 opened 4 years ago

bigsheep2018 commented 4 years ago

Hello Lyft team, Thanks for releasing this wonderful dataset. I found the point intensities of the lidar files are all set to 100. May I know is there a way that I could find back the intensities?

Thanks.

ywpkwon commented 4 years ago

Related to the above question, I think points' channel info also missing. The codes below show the issue:

file_path = '../lyft/train/lidar/host-a009_lidar1_1236020739601140606.bin'
lyft_points = load_pcl(file_path)
​
file_path = '../nuscenes/trainval/samples/LIDAR_TOP/n015-2018-08-01-16-32-59+0800__LIDAR_TOP__1533112832196540.pcd.bin'
nuscenes_points = load_pcl(file_path)
​
print('lyft'); print(lyft_points)
print('nuscenes'); print(nuscenes_points)

## Results
lyft
[[ 58.14607      0.21440078   7.303754   100.           1.        ]
 [ 59.453796     0.4321603    7.4708657  100.           1.        ]
 [ 62.629566     0.66805637   7.876157   100.           1.        ]
 ...
 [  5.897753    -0.04891394  -1.6242886  100.           1.        ]
 [  5.897241    -0.02844508  -1.6243095  100.           1.        ]
 [  5.8966975   -0.00694822  -1.6243294  100.           1.        ]]
nuscenes
[[-2.9440382  -0.3490765  -1.7511001  15.          0.        ]
 [-3.0973759  -0.34716725 -1.7453089  18.          1.        ]
 [-3.2428663  -0.34577352 -1.729147   21.          2.        ]
 ...
 [-6.527841   -0.00455226  0.9174293  38.         29.        ]
 [-6.5363693  -0.0022812   1.0738865  48.         30.        ]
 [-6.6156087  -0.00000249  1.2464437  30.         31.        ]]

The 4th and 5th column should be intensity and channel, respectively. Lyft points have consistently 100 and 1. Lyft dataset doesn't provide?