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nutonomy / nuscenes-devkit

The devkit of the nuScenes dataset.
https://www.nuScenes.org
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v_comp in RadarPointCloud #1022

Closed odd2022 closed 5 months ago

odd2022 commented 5 months ago

Hello, I would like to obtain the radial velocities of radar points in the frame of the radar sensor.

To do so, I used the function RadarPointCloud.from_file and I would like to know whether the field v_comp was the velocity of radar points in the frame of the radar sensor.

If so and if I am correct, i just have to convert the velocities in spherical coordinates.

If not, could you explain to me how v_comp is computed please ?

Have a nice day

whyekit-motional commented 5 months ago

@odd2022 the velocities from the radar have been compensated for ego motion: https://github.com/nutonomy/nuscenes-devkit/blob/9b165b1018a64623b65c17b64f3c9dd746040f36/python-sdk/nuscenes/utils/data_classes.py#L330

odd2022 commented 5 months ago

Thank you, I saw that but could explain what does it mean exactly please ?

whyekit-motional commented 5 months ago

Essentially, the velocities are wrt the ego