Some radar_front_right and radar_front_left frames are empty

#1 
        *for i in range(radar_nsweeps):*

  •            radar_path = Path(info[str(radar_name[i])])*

  •            radar_points = from_file(str(radar_path), invalid_states=[0],*

  •                                     dynprop_states=list(range(7)),*

  •                                     ambig_states=[3])*

  •            if radar_points.size != 0:*

  •                radar_points[:, :3] = radar_points[:, :3] @ info[str(radar_rotation_name[i])]*

  •                radar_points[:, :3] -= info[str(radar_translation_name[i])]*

  •                radar_points_velocities = radar_points[:, 8:10]*

  •                radar_points_velocities = np.hstack((radar_points_velocities, np.zeros([radar_points.shape[0], 1])))*

  •                radar_points_velocities = radar_points_velocities @ info[str(radar_rotation_name[i])]*

  •                radar_points[:, 8:10] = radar_points_velocities[:, 0:2]*

  •            else:*

  •                print(radar_path)*

I used filtering to aggregate the five radar points.But some radar frames have no dots, although they have the same file size as others. *And there are a lot of empty frames.

#2

Perhaps your filtering settings are too strict? What happens if you don’t have any filters? It is also possible that there are no returns in one direction, e.g. when we drive in the harbor area next to the water.