当前位置:网站首页>NuScenes数据集关于Radar数据的统计
NuScenes数据集关于Radar数据的统计
2022-07-06 18:59:00 【naca yu】
- 关注于v1.0-mini版本的雷达数据读取与统计:
from nuscenes.utils.data_classes import RadarPointCloud
import numpy as np
import matplotlib.pyplot as plt
points_list = []
radar_sensor = [ 'RADAR_BACK_LEFT',
'RADAR_BACK_RIGHT',
'RADAR_FRONT',
'RADAR_FRONT_LEFT',
'RADAR_FRONT_RIGHT']
# RadarPointCloud的接口由nuscenes提供
for sample in nusc.sample:
for sensor in radar_sensor:
sensor_token = sample['data'][sensor]
points = RadarPointCloud.from_file(str(nusc.get_sample_data_path(sensor_token))).points.transpose(1,0).astype(np.float32)
points_list.append(points)
print('total points {}'.format(len(points_list)))
point_num = 0
min_points = 2000
max_points = -2
for idx, points in enumerate(points_list):
point_num += points.shape[0]
min_points = min(points.shape[0], min_points)
max_points = max(points.shape[0], max_points)
point_num = point_num*1.0 / len(points_list)
print(f'max_points{
max_points} min_points{
min_points} average_points{
point_num}')
- 输出
total points 2020
max_points84 min_points0 average_points39.36584158415842
- 统计数据
data_dis = [num.shape[0] for num in points_list]
plt.figure(figsize=(10,5))
plt.bar(range(len(data_dis)), data_dis)
- 总结:
- 如上图所示的逐帧,逐传感器的统计数据中,各传感器分布:radar_front的数据密度较高,高于平均值
- radar_back的后置雷达数据密度较高,甚至出现某帧0个反射点
- 整体分布不均匀,且存在多帧反射点为0的现象
边栏推荐
猜你喜欢
leetcode:5. 最长回文子串【dp + 抓着超时的尾巴】
Draco - glTF模型压缩利器
软件测试——Jmeter接口测试之常用断言
Lumion 11.0 software installation package download and installation tutorial
【森城市】GIS数据漫谈(二)
记一次JAP查询导致OOM的问题分析
数字滚动增加效果
leetcode:736. Lisp 语法解析【花里胡哨 + 栈 + 状态enumaotu + slots】
Processus général de requête pour PostgreSQL
KYSL 海康摄像头 8247 h9 isapi测试
随机推荐
STM32项目 -- 选题分享(部分)
This week's hot open source project!
遇到慢SQL该怎么办?(下)
Stm32f4 --- PWM output
S120驱动器基本调试步骤总结
【论文阅读|深读】DNGR:Deep Neural Networks for Learning Graph Representations
#夏日挑战赛#数据库学霸笔记(下)~
MetaForce原力元宇宙开发搭建丨佛萨奇2.0系统开发
postgresql之integerset
进程管理基础
Pgadmin4 of PostgreSQL graphical interface tool
豆瓣平均 9.x,分布式领域的 5 本神书!
Station B's June ranking list - feigua data up main growth ranking list (BiliBili platform) is released!
Integerset of PostgreSQL
[leetcode]Search for a Range
Chang'an chain learning notes - certificate model of certificate research
新一代云原生消息队列(一)
What to do when encountering slow SQL? (next)
Tips for web development: skillfully use ThreadLocal to avoid layer by layer value transmission
数字滚动增加效果