TypeError: Can't instantiate abstract class PointCloud with abstract methods from_file, nbr_dims

Mister_Machine · December 2, 2021, 3:02am

Hi, I’m using nuscenes devkit in conjunction with the following open source code: https://github.com/TUMFTM/CameraRadarFusionNet/blob/5506700c21ecda8de7cbbfa0cff25413fbcb2a96/crfnet/data_processing/fusion/fusion_projection_lines.py#L319

When trying to instantiate PointCloud via the following:
pc = PointCloud(radar_points)

I get the following error…
TypeError: Can’t instantiate abstract class PointCloud with abstract methods from_file, nbr_dims

Any suggestions?

Whye_Kit_Fong · December 2, 2021, 8:01am

Hi @Mister_Machine, I would recommend using RadarPointCloud instead:

github.com

nutonomy/nuscenes-devkit/blob/c44366daea8bba29673943c1fc86d0bfbfb7a99e/python-sdk/nuscenes/utils/data_classes.py#L261


        :return: LidarPointCloud instance (x, y, z, intensity).
        """


        assert file_name.endswith('.bin'), 'Unsupported filetype {}'.format(file_name)


        scan = np.fromfile(file_name, dtype=np.float32)
        points = scan.reshape((-1, 5))[:, :cls.nbr_dims()]
        return cls(points.T)




class RadarPointCloud(PointCloud):


    # Class-level settings for radar pointclouds, see from_file().
    invalid_states = [0]  # type: List[int]
    dynprop_states = range(7)  # type: List[int] # Use [0, 2, 6] for moving objects only.
    ambig_states = [3]  # type: List[int]


    @classmethod
    def disable_filters(cls) -> None:
        """
        Disable all radar filter settings.

Mister_Machine · December 3, 2021, 7:56am

Thanks, this did the trick!