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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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Invalid lidar point file #50

Closed DaHaiHuha closed 4 years ago

DaHaiHuha commented 4 years ago

During handle with the lidar point cloud, the sample(which token is '9cb04b1a4d476fd0782431764c7b55e91c6dbcbc6197c3dab3e044f13d058011') has a wrong dimention of lidar point file. The sensor channel is LIDAR_TOP. When I do scan = np.fromfile(str(file_name), dtype=np.float32) points = scan.reshape((-1, 5))[:, : cls.nbr_dims()] the the error orrured: ValueError: cannot reshape array of size 265728 into shape (5)

muzi2045 commented 4 years ago

with this different lidar bin file, I can just try to handle it by this:

spec_lidar_path_1 = '/home/muzi2045/Downloads/lyft_dataset/v1.01-train/lidar/host-a011_lidar1_1233090652702363606.bin'
        if str(lidar_path) != spec_lidar_path_1:
            print("lidar_path:", str(lidar_path))
            points = np.fromfile(str(lidar_path), dtype=np.float32).reshape((-1, 5))[:, :4]
            points[:, 3] /= 255
        else:
            points = np.fromfile(str(lidar_path), dtype=np.float32).reshape((-1, 4))[:, :4]
            points[:, 3] /= 255
muzi2045 commented 4 years ago

looks like some data wrong.... snapshot

rkesten commented 4 years ago

Hi! Please make sure you work with the most recent (1.02) version of the dataset. This problem does not occur there anymore.

muzi2045 commented 4 years ago

Is there any correct single lidar file to replace this wrong lidar data file? Just Don't want to download the whole the dataset again... @rkesten

rkesten commented 4 years ago

Sorry, but there is no incremental update to 1.02. There are several other issues fixed as well.

HH0314 commented 4 years ago

I just tried to download the dataset from (https://level5.lyft.com/dataset/) again but the version of the training dataset was still v1.01. Where can I download the most recent version? @rkesten

rkesten commented 4 years ago

@HH0314 good point, that link isn't up to date. This should be fixed by tomorrow, so that v1.02 will be available via that site. Sorry for the confusion!

explorer359 commented 4 years ago

points = scan.reshape((-1, 5))[:, : cls.nbr_dims()] ValueError: cannot reshape array of size 265728 into shape (5)

Hey @rkesten i am also facing same issue, by downloading V1.02 can i resolve this issue?

hcyoo93 commented 3 years ago

points = scan.reshape((-1, 5))[:, : cls.nbr_dims()] ValueError: cannot reshape array of size 265728 into shape (5)

@rkesten @explorer359 I am facing the same issue.

I cannot find the version of the dataset, but I am pretty sure it is the latest one downloaded in July 2020 from [https://self-driving.lyft.com/level5/download/]

How can I resolve this? Any idea and comments are welcome

Thx!