- nuscenes 데이터셋의 radar pcd 파일 포맷에 관한 내용
https://pointclouds.org/documentation/tutorials/pcd_file_format.html
The PCD (Point Cloud Data) file format — Point Cloud Library 1.12.1-dev documentation
in binary_compressed form. The body (everything after the header) starts with a 32 bit unsigned binary number which specifies the size in bytes of the data in compressed form. Next is another 32 bit unsigned binary number which specifies the size in bytes
pointclouds.org
nuscenes devkit에서 제공하는 radar pcd 파일 규격 내용은 다음과 같다.
"""
Loads RADAR data from a Point Cloud Data file. See details below.
:param file_name: The path of the pointcloud file.
:param invalid_states: Radar states to be kept. See details below.
:param dynprop_states: Radar states to be kept. Use [0, 2, 6] for moving objects only. See details below.
:param ambig_states: Radar states to be kept. See details below.
To keep all radar returns, set each state filter to range(18).
:return: <np.float: d, n>. Point cloud matrix with d dimensions and n points.
Example of the header fields:
# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z dyn_prop id rcs vx vy vx_comp vy_comp is_quality_valid ambig_state x_rms y_rms invalid_state pdh0 vx_rms vy_rms
SIZE 4 4 4 1 2 4 4 4 4 4 1 1 1 1 1 1 1 1
TYPE F F F I I F F F F F I I I I I I I I
COUNT 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
WIDTH 125
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 125
DATA binary
Below some of the fields are explained in more detail:
x is front, y is left
vx, vy are the velocities in m/s.
vx_comp, vy_comp are the velocities in m/s compensated by the ego motion.
We recommend using the compensated velocities.
invalid_state: state of Cluster validity state.
(Invalid states)
0x01 invalid due to low RCS
0x02 invalid due to near-field artefact
0x03 invalid far range cluster because not confirmed in near range
0x05 reserved
0x06 invalid cluster due to high mirror probability
0x07 Invalid cluster because outside sensor field of view
0x0d reserved
0x0e invalid cluster because it is a harmonics
(Valid states)
0x00 valid
0x04 valid cluster with low RCS
0x08 valid cluster with azimuth correction due to elevation
0x09 valid cluster with high child probability
0x0a valid cluster with high probability of being a 50 deg artefact
0x0b valid cluster but no local maximum
0x0c valid cluster with high artefact probability
0x0f valid cluster with above 95m in near range
0x10 valid cluster with high multi-target probability
0x11 valid cluster with suspicious angle
dynProp: Dynamic property of cluster to indicate if is moving or not.
0: moving
1: stationary
2: oncoming
3: stationary candidate
4: unknown
5: crossing stationary
6: crossing moving
7: stopped
ambig_state: State of Doppler (radial velocity) ambiguity solution.
0: invalid
1: ambiguous
2: staggered ramp
3: unambiguous
4: stationary candidates
pdh0: False alarm probability of cluster (i.e. probability of being an artefact caused by multipath or similar).
0: invalid
1: <25%
2: 50%
3: 75%
4: 90%
5: 99%
6: 99.9%
7: <=100%
"""
"""
Loads RADAR data from a Point Cloud Data file. See details below.
:param file_name: The path of the pointcloud file.
:param invalid_states: Radar states to be kept. See details below.
:param dynprop_states: Radar states to be kept. Use [0, 2, 6] for moving objects only. See details below.
:param ambig_states: Radar states to be kept. See details below.
To keep all radar returns, set each state filter to range(18).
:return: <np.float: d, n>. Point cloud matrix with d dimensions and n points.
Example of the header fields:
# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z dyn_prop id rcs vx vy vx_comp vy_comp is_quality_valid ambig_state x_rms y_rms invalid_state pdh0 vx_rms vy_rms
SIZE 4 4 4 1 2 4 4 4 4 4 1 1 1 1 1 1 1 1
TYPE F F F I I F F F F F I I I I I I I I
COUNT 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
WIDTH 125
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 125
DATA binary
Below some of the fields are explained in more detail:
x is front, y is left
vx, vy are the velocities in m/s.
vx_comp, vy_comp are the velocities in m/s compensated by the ego motion.
We recommend using the compensated velocities.
invalid_state: state of Cluster validity state.
(Invalid states)
0x01 invalid due to low RCS
0x02 invalid due to near-field artefact
0x03 invalid far range cluster because not confirmed in near range
0x05 reserved
0x06 invalid cluster due to high mirror probability
0x07 Invalid cluster because outside sensor field of view
0x0d reserved
0x0e invalid cluster because it is a harmonics
(Valid states)
0x00 valid
0x04 valid cluster with low RCS
0x08 valid cluster with azimuth correction due to elevation
0x09 valid cluster with high child probability
0x0a valid cluster with high probability of being a 50 deg artefact
0x0b valid cluster but no local maximum
0x0c valid cluster with high artefact probability
0x0f valid cluster with above 95m in near range
0x10 valid cluster with high multi-target probability
0x11 valid cluster with suspicious angle
dynProp: Dynamic property of cluster to indicate if is moving or not.
0: moving
1: stationary
2: oncoming
3: stationary candidate
4: unknown
5: crossing stationary
6: crossing moving
7: stopped
ambig_state: State of Doppler (radial velocity) ambiguity solution.
0: invalid
1: ambiguous
2: staggered ramp
3: unambiguous
4: stationary candidates
pdh0: False alarm probability of cluster (i.e. probability of being an artefact caused by multipath or similar).
0: invalid
1: <25%
2: 50%
3: 75%
4: 90%
5: 99%
6: 99.9%
7: <=100%
"""위 링크 내용과 대조해 보면서 pcd 파일 정보를 파악해봤다.
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