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nutonomy / nuscenes-devkit

The devkit of the nuScenes dataset.
https://www.nuScenes.org
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Conert radar to lidar problems #1072

Closed xiaobh1519 closed 2 months ago

xiaobh1519 commented 2 months ago

Excuse me! I am currently trying to convert the NuScenes dataset to Kitti format, but I noticed that Kitti does not have radar data. Therefore, I want to convert radar data from NuScenes to Liadr format (and align them). How can I convert radar data to Liadr points in NuScenes? Translate the above into English: I am currently looking to convert the NuScenes dataset into Kitti format, but I have found that Kitti does not include radar data. Consequently, I wish to convert the radar data from NuScenes into Liadr format (and align them). How can I transform the radar data into Liadr points within NuScenes?

whyekit-motional commented 2 months ago

@xiaobh1519 in the first place, I'm not sure if it's even logical to convert the radar data to the format used by the lidar data, since radar data and lidar data are inherently different (e.g. radar data would have fields like doppler velocity, which are not present in the lidar data)

xiaobh1519 commented 2 months ago

@xiaobh1519 in the first place, I'm not sure if it's even logical to convert the radar data to the format used by the lidar data, since radar data and lidar data are inherently different (e.g. radar data would have fields like doppler velocity, which are not present in the lidar data)

I just want to extract the coordinates (x, y, z) of the radar points and convert them to the lidar coordinate system. Do you think this is possible?

whyekit-motional commented 2 months ago

If you are talking about transforming radar points to the lidar frame, then yes it is definitely possible - you will just need to construct the relevant transformation matrices