PointPillars
PointPillars copied to clipboard
zhulf0804
Point Cloud visualization problem
i'm trying to convert the point cloud results into a kitti dataset .bin file and for some reason it's returning me a error when running the test:
TypeError: tuple indices must be integers or slices, not str #21
convertion code:
class MinimalSubscriber(Node):
def __init__(self):
super().__init__('minimal_subscriber')
self.subscription = self.create_subscription(
PointCloud2,
'velodyne_points',
self.listener_callback,
10)
def convert_pointcloud(self, msg):
pc = pc2.read_points(msg, field_names=("x", "y", "z", "intensity"), skip_nans=True)
pc = np.array(list(pc), dtype=np.float32)
x = pc[:, 0]
y = pc[:, 1]
z = pc[:, 2]
intensity = pc[:, 3]
arr = np.zeros(x.shape[0] * 4, dtype=np.float32)
arr[::4] = x
arr[1::4] = y
arr[2::4] = z
arr[3::4] = intensity
bin_file_name = 'point_cloud_data.bin'
with open(bin_file_name, 'wb') as f:
arr.tofile(f)
def listener_callback(self, msg):
self.convert_pointcloud(msg)
To resolve the error above, i removed the following line in test.py:
#model.eval() #48
After this, the inference worked and displayed the window with the detected objects. But, all the point cloud is showing in white.
What am i doing wrong? Do you guys have any idea?
Thank you in advance.
