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The devkit of the nuScenes dataset.
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Meanings of 5 dimensions of input LiDAR points #1110

Closed Terencedu closed 2 weeks ago

Terencedu commented 2 weeks ago

Hi teams,

I see LiDAR pcd.bin file is a array of shape (34752, 5).

What are the meanings of these 5 dimensions? Because I want to replace it with my custom LiDAR data.

Dimension[:3] is x, y, z position of the LiDAR point in LiDAR coordinate？X-axis points to the right, the y-axis points forward, and the z-axis points upwards.

What about dimension[-2] and dimension[-1]? They are all integers.

Thank you for your help!

image

whyekit-motional commented 2 weeks ago

@Terencedu pls see https://github.com/nutonomy/nuscenes-devkit/blob/4df2701feb3436ae49edaf70128488865a3f6ff9/python-sdk/nuscenes/utils/data_classes.py#L249

Terencedu commented 2 weeks ago

I got it. Thank you very much!