A few confusion about data_collect.py ＆ Dataset
hollowknight2167 opened this issue · 1 comments
Hello, my esteemed authors. Recently, I'm work on the dataset you have provided and I'd like to ask you some question.
When I make a attempt to use the Semantic LIDAR data following the data_collect.py, I come to find that the data stored in the files : Bench2Drive-mini/Accident_Town03_Route156_Weather0/lidar/xxxxx.laz only have the (x,y,z) coordinate. In the file, it has already create the type of semantic_lidar but it seems not be storen in the dataset. Given that the semantic image is saved to the path normally, I'm confused because I didn't know where to get the semanticlidar data.
So how can I get the semantic information of point cloud? Or may be I miss the semantic tag? Could you please offer me some advice? Because I have already seen that the code in data_collect.py .
If there is no better way to transform the tag to the point cloud, I'd like to consult you that what kind of "xxx.agent.py" and which route(.xml) you had used for creating the dataset? Would you please share with us so that we can add the semantic information to the dataset? And messages like your data_store rate, lidar position and other details will be appreciated.
I am sorry to inform you that our data does not contain lidar seg. Maybe you can add lidar sensor to collect your data by carla_garage.