| import numpy as np | |
| import glob | |
| def read_points(path): | |
| scan = np.fromfile(path, dtype=np.float32) | |
| scan = scan.reshape((-1, 4)) # [x,y,z,intensity] | |
| return scan | |
| def read_label(path): | |
| label = np.fromfile(path, dtype=np.uint32) | |
| label = label.reshape((-1)) | |
| return label | |
| if __name__ == '__main__': | |
| files = glob.glob('./*/velodyne/*.bin') | |
| for f_path in files: | |
| scan = read_points(f_path) | |
| label_path = f_path.replace('velodyne', 'labels').replace('bin', 'label') | |
| labels = read_label(label_path) | |
| assert scan.shape[0] == labels.shape[0] |