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added support for laser.pkl if they exist #62

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added support for laser.pkl if they exist #62

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13 changes: 13 additions & 0 deletions python/pandaset/sensors.py
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Original file line number Diff line number Diff line change
Expand Up @@ -132,6 +132,10 @@ def _load_data_file(self, fp: str) -> None:


class Lidar(Sensor):
def load(self) -> None:
super().load()
self._load_laser()

@property
def _data_file_extension(self) -> str:
return 'pkl.gz'
Expand Down Expand Up @@ -225,6 +229,15 @@ def set_sensor(self, sensor_id: int) -> None:
def _load_data_file(self, fp: str) -> DataFrame:
return pd.read_pickle(fp)

def _load_laser(self):
lasers_file_location = f'{self._directory}/laser.pkl'
if not os.path.exists(lasers_file_location):
return
lasers = pd.read_pickle(lasers_file_location)

for laser, df in zip(lasers, self._data):
df.loc[df.index[df['d'] == 0], "laser"] = laser


class Camera(Sensor):
@property
Expand Down