Retrieving Top-Down LiDAR view in real-time

#1

Hi,

I was wondering if there is a convenient way to retrieve data that is rendered with:
nusc.render_sample_data(my_sample['data']['LIDAR_TOP'])

into a figure/numpy array in real time?

At the moment rendering the top-down view takes roughly 1.38s when underlay_map=True. I would like to be able to retrieve large number of such samples within shortest time possible.

Cheers,

#2

Hi. Have a look at how we render videos in render_scene_channel() and render_scene() and adapt render_sample_data accordingly. It should be faster, but still not very optimized.

#3

Surely I will. Thank you