fix: skip loading radar pointcloud (#199)

tier4 · Dec 10, 2024 · 652ce0a · 652ce0a
1 parent f35dae9
commit 652ce0a
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/perception_eval/perception_eval/common/dataset_utils.py b/perception_eval/perception_eval/common/dataset_utils.py
@@ -310,6 +310,9 @@ def _load_raw_data(nusc: NuScenes, sample_token: str) -> Dict[FrameID, NDArray]:
         filepath: str = nusc.get_sample_data_path(sample_data_token)
         if osp.basename(filepath).endswith("bin"):
             raw_data = np.fromfile(filepath, dtype=np.float32).reshape(-1, 5)[:, :4]
+        elif osp.basename(filepath).endswith("pcd"):
+            # skip loading radar pointcloud
+            continue
         else:
             raw_data = np.array(Image.open(filepath), dtype=np.uint8)
         output[frame_id] = raw_data