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Radiate dataset converter with high resolution radar images
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System information
- OS Platform and Distribution: Linux Ubuntu 22.04
- Apollo installed from: Source
- Apollo version: 8.0
Issue
- I'm trying to create a dataset converter for radiate dataset. The radar data are high resolution images and not sparse point clouds in radiate dataset.
- How can I write a scripts for dataset converter to generate a record file that radar data as well?
- How can I convert radar images to radar point cloud?
Can you provide some examples for better understanding, what do you mean radar images to radar point cloud? What does their data structure look like?
The data I get from radiate dataset for radar is a png with resolution 1152 x 1152 and each pixel represents a 0.17361 m x 0.17361 m. Each pixel contains rgb values (eg. [49 49 49], [26, 26, 26] etc). How can I convert it into point cloud of x,y,intensity so I can feed it to apollo to generate a record file using dataset converter.
data format
lidar - x, y, z, intensity
Since your radar is a picture, then we can assume that the z values of lidar are all 0, and the values of x and y correspond to the x and y positions of the plane coordinates.
intensity is 0, because radar does not have a reflection value, but you can try to replace it with speed or some other attribute.
method
You need to read the image and convert the obstacle coordinates into x, y coordinates. Then modify this function to fit your data
Each pixel contains rgb values (eg. [49 49 49], [26, 26, 26] etc).
Can't I take my intensity from here? Converting these rgb values to grayscale
And should the data for radar be in point cloud to insert in Apollo environment, when we create a record file? Or will the image also work?
If there is no intensity information, I suggest you set it to 0
And if I do this then radar data will be useless right? Since there is not intensity data from the echo of the target