Dump Data Conversion¶

3.1 Converting Camera Sensor Dump Data¶

3.1.1 Environment Setup¶

（1）Install Python and configure the corresponding environment variables.

（2）Install the third-party library OpenCV.

3.1.2 Run the Python Script¶

3.1.2.1 Method 1¶

（1）Copy the file /SimOne/Tools/RAW2PNG.py from the installation path to the sensor subdirectory under C:/Dump.

Run py RAW2PNG.py. An out folder will be generated containing the converted image data, as shown below.

3.1.2.2 Method 2¶

（1）Open the script file /SimOne/Tools/RAW2PNG.py.

Command

python /SimOne/Tools/RAW2PNG.py // path to the Python script

--input="D:/Dump/Dump/1-1/cam_front" // path to the Dump data folder to convert

--output="D:/Dump/Dump/1-1/cam_front/output" // output path for converted data

Example:

--input example

The folder containing the Dump data for each sensor.

--output example

Color — real color image captured by the camera

ColorBox — 3D bounding box

ColorOpenLane — lane line segmentation map

DepthPlanner — depth map

Instance — instance segmentation map

Segmentation — grayscale map

SegmentationView — semantic segmentation map

3.2 Converting LiDAR Sensor Data to Point Cloud¶

3.2.1 Environment Setup¶

Install a PCD-to-point-cloud conversion program such as CloudCompare, or download another conversion tool of your choice.

3.2.2 Convert PCD to Point Cloud¶

Open CloudCompare and drag the PCD file into the program. The point cloud will be displayed inside the program.