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Fix helipr #10

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merged 3 commits into from
Mar 26, 2024
Merged

Fix helipr #10

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3d813b2
Fix helipr
benemer Mar 26, 2024
9bc99f4
Fix normalization
benemer Mar 26, 2024
8eb16e0
Merge branch 'main' of github.com:PRBonn/lidar-visualizer into benedi…
benemer Mar 26, 2024
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137 changes: 72 additions & 65 deletions src/lidar_visualizer/datasets/helipr.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,82 +41,73 @@ def __init__(self, data_dir: Path, *_, **__):
'run "pip install open3d" '
"or check https://www.open3d.org/docs/release/getting_started.html"
) from e
# Intensity stuff
import matplotlib.cm as cm

self.sequence_id = os.path.basename(data_dir).lower()
self.scans_dir = os.path.join(os.path.realpath(data_dir), "")
self.cmap = cm.viridis

self.sequence_id = os.path.basename(data_dir)
self.scan_files = np.array(
natsort.natsorted(
[
os.path.join(self.scans_dir, fn)
for fn in os.listdir(self.scans_dir)
os.path.join(data_dir, fn)
for fn in os.listdir(data_dir)
if any(fn.endswith(ext) for ext in supported_file_extensions())
]
),
dtype=str,
)
if len(self.scan_files) == 0:
raise ValueError(f"Tried to read point cloud files in {self.scans_dir} but none found")
raise ValueError(f"Tried to read point cloud files in {data_dir} but none found")
self.file_extension = self.scan_files[0].split(".")[-1]
if self.file_extension not in supported_file_extensions():
raise ValueError(f"Supported formats are: {supported_file_extensions()}")

self.intensity_channel = None
# Obtain the pointcloud reader for the given data folder
if self.sequence_id.find("avia"):
self.dtype = np.dtype(
[
("x", np.float32),
("y", np.float32),
("z", np.float32),
("reflectivity", np.uint8),
("tag", np.uint8),
("line", np.uint8),
("offset_time", np.uint32),
]
)
if self.sequence_id == "Avia":
self.fields = [
("x", np.float32),
("y", np.float32),
("z", np.float32),
("reflectivity", np.uint8),
("tag", np.uint8),
("line", np.uint8),
("offset_time", np.uint32),
]

elif self.sequence_id.find("aeva"):
self.dtype = np.dtype(
[
("x", np.float32),
("y", np.float32),
("z", np.float32),
("reflectivity", np.float32),
("velocity", np.float32),
("time_offset_ns", np.int32),
("line_index", np.uint8),
("intensity", np.float32),
]
)
self.intensity_channel = 7
elif self.sequence_id == "Aeva":
self.fields = [
("x", np.float32),
("y", np.float32),
("z", np.float32),
("reflectivity", np.float32),
("velocity", np.float32),
("time_offset_ns", np.int32),
("line_index", np.uint8),
("intensity", np.float32),
]

elif self.sequence_id.find("ouster"):
self.dtype = np.dtype(
[
("x", np.float32),
("y", np.float32),
("z", np.float32),
("intensity", np.float32),
("t", np.int32),
("reflectivity", np.float16),
("ring", np.float16),
("ambient", np.float16),
]
)
self.intensity_channel = 3
elif self.sequence_id == "Ouster":
self.fields = [
("x", np.float32),
("y", np.float32),
("z", np.float32),
("intensity", np.float32),
("t", np.uint32),
("reflectivity", np.uint16),
("ring", np.uint16),
("ambient", np.uint16),
]

elif self.sequence_id.find("velodyne"):
self.dtype = np.dtype(
[
("x", np.float32),
("y", np.float32),
("z", np.float32),
("intensity", np.float32),
("ring", np.float16),
("time", np.float32),
]
)
self.intensity_channel = 3
elif self.sequence_id == "Velodyne":
self.fields = [
("x", np.float32),
("y", np.float32),
("z", np.float32),
("intensity", np.float32),
("ring", np.uint16),
("time", np.float32),
]

else:
print("[ERROR] Unsupported LiDAR Type")
Expand All @@ -126,20 +117,36 @@ def __len__(self):
return len(self.scan_files)

def __getitem__(self, idx):
return self.read_point_cloud(self.scan_files[idx])
return self.read_point_cloud(idx)

def get_intensity_channel(self):
matches = [index for index, (name, _) in enumerate(self.fields) if name == "intensity"]
return matches[0] if len(matches) > 0 else None

def read_point_cloud(self, idx: int):
file_path = self.scan_files[idx]

intensity_channel = self.get_intensity_channel()
dtype = np.dtype(self.fields)

# Special case, see https://github.com/minwoo0611/HeLiPR-File-Player/blob/e8d95e390454ece1415ae9deb51515f63730c10a/src/ROSThread.cpp#L632
if self.sequence_id == "Aeva" and int(Path(file_path).stem) <= 1691936557946849179:
intensity_channel = None
dtype = np.dtype(
[(name, np_type) for name, np_type in self.fields if name != "intensity"]
)

def read_point_cloud(self, file_path: str):
scan = self.o3d.geometry.PointCloud()
if self.intensity_channel is not None:
if intensity_channel is not None:
points_xyzi = np.stack(
[
[line[0], line[1], line[2], line[self.intensity_channel]]
for line in np.fromfile(file_path, dtype=self.dtype).tolist()
[line[0], line[1], line[2], line[intensity_channel]]
for line in np.fromfile(file_path, dtype=dtype).tolist()
]
)
points = points_xyzi[:, 0:3]
intensity = points_xyzi[:, -1]
intensity = intensity / intensity.max()
intensity = (intensity - intensity.min()) / (intensity.max() - intensity.min())
colors = self.cmap(intensity)[:, :3].reshape(-1, 3)
scan.points = self.o3d.utility.Vector3dVector(points)
scan.colors = self.o3d.utility.Vector3dVector(colors)
Expand All @@ -148,7 +155,7 @@ def read_point_cloud(self, file_path: str):
points = np.stack(
[
[line[0], line[1], line[2]]
for line in np.fromfile(file_path, dtype=self.dtype).tolist()
for line in np.fromfile(file_path, dtype=dtype).tolist()
]
)
scan.points = self.o3d.utility.Vector3dVector(points)
Expand Down
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