Radar Point Deep-Dive
Radar points are supported on the lidar toolkit, the lidar toolkit is expecting this data format:
radar_points = np.array([
[
[0.30694541, 0.27853175, 0.51152715], // position - x,y,z
[0.80424087, 0.24164057, 0.45256181], // direction - x,y,z
[0.73596422] // size
],
[
[0.30694541, 0.27853175, 0.51152715], // position - x,y,z
[0.80424087, 0.24164057, 0.45256181], // direction - x,y,z
[0.73596422] // size
],
[
[0.30694541, 0.27853175, 0.51152715], // position - x,y,z
[0.80424087, 0.24164057, 0.45256181], // direction - x,y,z
[0.73596422] // size
]
])
In order to add the radar points you can add the following line to you code:
...
for frame in frames:
...
# add the following lines
radar_points = load_radar_points(f"./radar_points/{frame}.txt")
scene.get_frame(frame).add_radar_points(radar_points) # adding radar_points to each frame
...
Here is an example of radar points, if you store the data following that format you can use the following snippet to load the data:
def load_radar_points(file):
Lines = open(file, 'r').readlines()
points = []
for line in Lines:
point = line.split(',')
points.append([list(map(float, point[0:3])),list(map(float, point[3:6])),list(map(float, [point[6]]))])
return points