Add radar dtype bugfix and test, addresses nutonomy#588 (nutonomy#589)

* Add bugfix and test

* Typo

Co-authored-by: Holger Caesar <holger.caesar@motional.com>

python-sdk/nuscenes/utils/data_classes.py

@@ -73,7 +73,7 @@ def from_file_multisweep(cls,
         :return: (all_pc, all_times). The aggregated point cloud and timestamps.
         """
         # Init.
-        points = np.zeros((cls.nbr_dims(), 0), dtype=np.float32)
+        points = np.zeros((cls.nbr_dims(), 0), dtype=np.float32 if cls == LidarPointCloud else np.float64)
         all_pc = cls(points)
         all_times = np.zeros((1, 0))
 
@@ -127,9 +127,6 @@ def from_file_multisweep(cls,
             else:
                 current_sd_rec = nusc.get('sample_data', current_sd_rec['prev'])
 
-        # Check that the multisweep pointcloud has the same dtype as individual pointclouds.
-        assert all_pc.points.dtype == np.float32, 'Error: Invalid dtype for multisweep pointcloud!'
-
         return all_pc, all_times
 
     def nbr_points(self) -> int:

python-sdk/nuscenes/utils/tests/test_data_classes.py

@@ -0,0 +1,38 @@
+# nuScenes dev-kit.
+# Code written by Holger Caesar, 2021.
+
+import os
+import unittest
+
+from nuscenes import NuScenes
+from nuscenes.utils.data_classes import LidarPointCloud, RadarPointCloud
+
+
+class TestDataClasses(unittest.TestCase):
+
+    def test_load_pointclouds(self):
+        """
+        Loads up lidar and radar pointclouds.
+        """
+        assert 'NUSCENES' in os.environ, 'Set NUSCENES env. variable to enable tests.'
+        dataroot = os.environ['NUSCENES']
+        nusc = NuScenes(version='v1.0-mini', dataroot=dataroot, verbose=False)
+        sample_rec = nusc.sample[0]
+        lidar_name = nusc.get('sample_data', sample_rec['data']['LIDAR_TOP'])['filename']
+        radar_name = nusc.get('sample_data', sample_rec['data']['RADAR_FRONT'])['filename']
+        lidar_path = os.path.join(dataroot, lidar_name)
+        radar_path = os.path.join(dataroot, radar_name)
+        pc1 = LidarPointCloud.from_file(lidar_path)
+        pc2 = RadarPointCloud.from_file(radar_path)
+        pc3, _ = LidarPointCloud.from_file_multisweep(nusc, sample_rec, 'LIDAR_TOP', 'LIDAR_TOP', nsweeps=2)
+        pc4, _ = RadarPointCloud.from_file_multisweep(nusc, sample_rec, 'RADAR_FRONT', 'RADAR_FRONT', nsweeps=2)
+
+        # Check for valid dimensions.
+        assert pc1.points.shape[0] == pc3.points.shape[0] == 4, 'Error: Invalid dimension for lidar pointcloud!'
+        assert pc2.points.shape[0] == pc4.points.shape[0] == 18, 'Error: Invalid dimension for radar pointcloud!'
+        assert pc1.points.dtype == pc3.points.dtype, 'Error: Invalid dtype for lidar pointcloud!'
+        assert pc2.points.dtype == pc4.points.dtype, 'Error: Invalid dtype for radar pointcloud!'
+
+
+if __name__ == '__main__':
+    unittest.main()