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nutonomy / nuscenes-devkit

The devkit of the nuScenes dataset.
https://www.nuScenes.org
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How to extract rosbag camera and radar data and autopopulate tables? #772

Closed saumilsdk closed 2 years ago

saumilsdk commented 2 years ago

Is there a way to parse and auto populate incoming camera and radar data into nuscenes tables?

whyekit-motional commented 2 years ago

@saumilsdk if by camera / radar data, you are referring to the data files, these are already populated into the nuScenes tables as paths to the data - e.g. you can get the radar data of a given sample like so:

from nuscenes.nuscenes import NuScenes

nusc = NuScenes(version='v1.0-mini', dataroot='/data/sets/nuscenes', verbose=False)

sample = nusc.sample[100]
nusc.get('sample_data', sample['data']['RADAR_FRONT'])['filename']

The above would give:

samples/RADAR_FRONT/n008-2018-08-28-16-43-51-0400__RADAR_FRONT__1535489306413246.pcd
saumilsdk commented 2 years ago

@whyekit-motional Data files i have is all rosbag files with diff topics for camera and radar. Considering i have camera topic as "camera_front/raw_images". Now how can i annotate objects in camera frames as per nuimages/nuscenes?

whyekit-motional commented 2 years ago

@saumilsdk for the annotation protocol of nuScenes, pls refer to https://www.nuscenes.org/nuscenes#data-annotation