From 515c91d48705542b71806d37f1adc0d11f78cd6b Mon Sep 17 00:00:00 2001 From: ktro2828 Date: Tue, 10 Dec 2024 09:58:23 +0900 Subject: [PATCH] fix: skip loading radar pointcloud Signed-off-by: ktro2828 --- perception_eval/perception_eval/common/dataset_utils.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/perception_eval/perception_eval/common/dataset_utils.py b/perception_eval/perception_eval/common/dataset_utils.py index 4c77e7d1..6db3b195 100644 --- 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