in the definition of “RadarPointCloud.from_file_multisweep” shows:
for _ in range(nsweeps):
current_pc = cls.from_file(osp.join(nusc.dataroot, current_sd_rec[‘filename’]))
all_pc.points = np.hstack((all_pc.points, current_pc.points))
return all_pc, all_times
I am not so clear with this:
- Is a generated point cloud(here is all_pc) just stacks of 26 pcd file?
- Is each pcd file a sweep which is 13Hz? If it is, then the generated point cloud has a frequency of 1/2Hz.
Many thanks in advance!