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import argparse |
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import os |
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import numpy as np |
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def fix_lyft(root_folder='./data/lyft', version='v1.01'): |
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lidar_path = 'lidar/host-a011_lidar1_1233090652702363606.bin' |
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root_folder = os.path.join(root_folder, f'{version}-train') |
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lidar_path = os.path.join(root_folder, lidar_path) |
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assert os.path.isfile(lidar_path), f'Please download the complete Lyft ' \ |
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f'dataset and make sure {lidar_path} is present.' |
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points = np.fromfile(lidar_path, dtype=np.float32, count=-1) |
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try: |
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points.reshape([-1, 5]) |
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print(f'This fix is not required for version {version}.') |
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except ValueError: |
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new_points = np.array(list(points) + [100.0, 1.0], dtype='float32') |
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new_points.tofile(lidar_path) |
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print(f'Appended 100.0 and 1.0 to the end of {lidar_path}.') |
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parser = argparse.ArgumentParser(description='Lyft dataset fixer arg parser') |
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parser.add_argument( |
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'--root-folder', |
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type=str, |
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default='./data/lyft', |
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help='specify the root path of Lyft dataset') |
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parser.add_argument( |
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'--version', |
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type=str, |
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default='v1.01', |
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help='specify Lyft dataset version') |
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args = parser.parse_args() |
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if __name__ == '__main__': |
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fix_lyft(root_folder=args.root_folder, version=args.version) |
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