feat(dataclass): add PCD support to LidarPointCloud.from_file#285
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tokuda99 wants to merge 1 commit into
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feat(dataclass): add PCD support to LidarPointCloud.from_file#285tokuda99 wants to merge 1 commit into
tokuda99 wants to merge 1 commit into
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ktro2828
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@tokuda99 Could you update SegmentationPointCloud as well?
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@tokuda99 Thank you for your PR! I'd appreciate if you could update the document about pointcloud format! https://github.com/tier4/t4-devkit/blob/main/docs/schema/data.md |
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What
This pull request adds PCD support to
LidarPointCloud.from_file, while keepingthe existing behavior for
.bin/.pcd.binfiles unchanged. PCD files are read viapypcd4, which tier4_perception_dataset already depends on for PointCloud2 parsing,
and which the upcoming
.pcdoutput option in tier4_perception_dataset will use onthe writer side — so both sides will share the same PCD implementation. This adds
pypcd4 as a new dependency of t4-devkit; happy to switch to a self-contained parser
(like the radar one) if we prefer not to add it.
The existing loader test is renamed with a
_from_binsuffix to make the pair withthe new
_from_pcdtest explicit.