How to get the data of LiDAR and RADAR from the rendered pointcloud

#1

nusc.render_pointcloud_in_image(my_sample[‘token’], pointsensor_channel=‘LIDAR_TOP’)

and

nusc.render_pointcloud_in_image(my_sample[‘token’], pointsensor_channel=‘RADAR_FRONT’)

Can render the LiDAR and RADAR point clouds to front camera.
How to get the data associated to these rending pointclouds.

#2

Hi. We don’t have a function for that. I suggest you inherit from the NuScenes class and adapt the method a bit to output the data.