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feat(opendataset): add num_lidar/radar_pts attributes in nuScenes loader #507

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feat(opendataset): add num_lidar/radar_pts attributes in nuScenes loader #507

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42 changes: 27 additions & 15 deletions tensorbay/opendataset/nuScenes/catalog.json
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Original file line number Diff line number Diff line change
Expand Up @@ -98,21 +98,16 @@
],
"attributes": [
{
"name": "vehicle_motion",
"enum": ["moving", "parked", "stopped"],
"parentCategories": [
"vehicle.bicycle",
"vehicle.bus.bendy",
"vehicle.bus.rigid",
"vehicle.car",
"vehicle.construction",
"vehicle.emergency.ambulance",
"vehicle.emergency.police",
"vehicle.motorcycle",
"vehicle.trailer",
"vehicle.truck"
],
"description": "Motion of the vehicle."
"name": "num_lidar_pts",
"type": "integer",
"minimum": 0,
"description": "Number of lidar points in this box. Points are counted during the lidar sweep identified with this sample."
},
{
"name": "num_radar_pts",
"type": "integer",
"minimum": 0,
"description": "Number of radar points in this box. Points are counted during the radar sweep identified with this sample. This number is summed across all radar sensors without any invalid point filtering."
},
{
"name": "cycle_rider",
Expand All @@ -138,6 +133,23 @@
],
"description": "Motion of the pedestrain."
},
{
"name": "vehicle_motion",
"enum": ["moving", "parked", "stopped"],
"parentCategories": [
"vehicle.bicycle",
"vehicle.bus.bendy",
"vehicle.bus.rigid",
"vehicle.car",
"vehicle.construction",
"vehicle.emergency.ambulance",
"vehicle.emergency.police",
"vehicle.motorcycle",
"vehicle.trailer",
"vehicle.truck"
],
"description": "Motion of the vehicle."
},
{
"name": "visibility",
"enum": ["v0-40", "v40-60", "v60-80", "v80-100"],
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2 changes: 2 additions & 0 deletions tensorbay/opendataset/nuScenes/loader.py
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Expand Up @@ -267,6 +267,8 @@ def _get_labeled_box(
attributes["visibility"] = annotation_info["visibility"][
instance_annotation["visibility_token"]
]["level"]
attributes["num_lidar_pts"] = instance_annotation["num_lidar_pts"]
attributes["num_radar_pts"] = instance_annotation["num_radar_pts"]

width, length, height = instance_annotation["size"]
return LabeledBox3D(
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