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126 lines
2.9 KiB
126 lines
2.9 KiB
import os
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import json
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import numpy as np
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import matplotlib.pyplot as plt
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PROJECT_ROOT = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
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DATA_PATH = os.path.join(PROJECT_ROOT, "data")
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# ---------------- LOAD FRAME METADATA ----------------
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def load_frame(frame_id):
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with open(os.path.join(DATA_PATH, "frames.jsonl")) as f:
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for line in f:
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data = json.loads(line)
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if data["frame_id"] == frame_id:
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return data
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return None
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# ---------------- RADAR ----------------
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def inspect_radar(frame_id):
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path = os.path.join(DATA_PATH, "radar", f"frame_{frame_id:06d}.npy")
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data = np.load(path)
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print("\n--- RADAR DATA ---")
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print("Shape:", data.shape)
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if len(data) > 0:
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print("\nFirst 5 detections:")
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for row in data[:5]:
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print(f"Depth={row[0]:.2f} m | Azimuth={row[1]:.3f} rad | Vel={row[3]:.2f} m/s")
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else:
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print("No radar detections")
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return data
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# ---------------- LIDAR ----------------
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def inspect_lidar(frame_id):
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path = os.path.join(DATA_PATH, "lidar", f"frame_{frame_id:06d}.npy")
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data = np.load(path)
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print("\n--- LIDAR DATA ---")
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print("Shape:", data.shape)
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print("\nFirst 5 points:")
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for row in data[:5]:
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print(f"x={row[0]:.2f}, y={row[1]:.2f}, z={row[2]:.2f}")
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return data
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# ---------------- GROUND TRUTH ----------------
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def inspect_gt(frame_id):
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frame = load_frame(frame_id)
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print("\n--- GROUND TRUTH ---")
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gt = frame["ground_truth"]
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print(f"Total vehicles: {len(gt)}")
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for v in gt[:5]:
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print(f"ID={v['id']} | x={v['x']:.2f}, y={v['y']:.2f} | speed={v['speed']:.2f}")
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# ---------------- PLOT RADAR ----------------
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def plot_radar(radar_data):
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if len(radar_data) == 0:
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print("No radar data to plot")
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return
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r = radar_data[:, 0]
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az = radar_data[:, 1]
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x = r * np.cos(az)
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y = r * np.sin(az)
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plt.figure()
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plt.scatter(x, y, s=10)
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plt.title("Radar XY")
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plt.xlabel("X (m)")
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plt.ylabel("Y (m)")
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plt.axis("equal")
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plt.grid()
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plt.show()
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# ---------------- PLOT LIDAR ----------------
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def plot_lidar(lidar_data):
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x = lidar_data[:, 0]
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y = lidar_data[:, 1]
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plt.figure()
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plt.scatter(x, y, s=1)
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plt.title("Lidar Top View")
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plt.axis("equal")
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plt.grid()
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plt.show()
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# ---------------- MAIN ----------------
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if __name__ == "__main__":
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frame_id = int(input("Enter frame number: "))
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frame = load_frame(frame_id)
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if frame is None:
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print("Frame not found")
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exit()
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print("\n========== FRAME INFO ==========")
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print("Frame ID:", frame["frame_id"])
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print("Timestamp:", frame["timestamp"])
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inspect_gt(frame_id)
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radar = inspect_radar(frame_id)
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lidar = inspect_lidar(frame_id)
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# Optional plots
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plot_choice = input("\nPlot data? (y/n): ").lower()
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if plot_choice == "y":
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plot_radar(radar)
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plot_lidar(lidar)
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