nuscenes_add

tags: nuScenes

add the nuScenes expanded data

Download

1. clone the nuscenes_add package to your ros workspace

git clone https://github.com/DengYu1203/nuscenes_add.git

2. download the expand data
3. catkine_make
4. prepare the bags you want to expand the new message

CAN_BUS (imu, pose)

1. download the can_bus data:
2. change the bag_fold and imu_fold path to yours
3. roslaunch

roslaunch nuscenes_add canbus.launch

4. result

lidar segmentation

The intensity of the lidarseg PointCloud is the id of the segmentation which ranges from 0 to 31.

The pointcloud may look like the picture below:

1. download the lidarseg data:

2. change the bag_fold and lidarseg_fold path to yours

3. decide the PointCloud type true : use the PointXYZRGB(color encoded from id)
   false: use the PointXYZI(save the id directly)

4. roslaunch

roslaunch nuscenes_add lidarseg.launch

5. result

Bag topics

1. can_bus expand topics: imu and pose
2. lidarseg expand topics: lidarseg