Add V1/source_scripts/extract_radar.py

V1/source_scripts/extract_radar.py

@@ -0,0 +1,39 @@
+import rospy
+import numpy as np
+from sensor_msgs.msg import PointCloud
+import os
+import rosbag
+from tqdm import tqdm
+
+def extract_radar_pointcloud_from_rosbag(bag_file, output_dir, radar_topic='/radar_enhanced_pcl', time_threshold=180.0):
+    rospy.init_node('extract_radar_pointcloud_from_rosbag', anonymous=True)
+
+    if not os.path.exists(output_dir):
+        os.makedirs(output_dir)
+
+    bag = rosbag.Bag(bag_file, 'r')
+
+
+    for topic, msg, t in tqdm(bag.read_messages(topics=[radar_topic]), desc='Extracting Radar Point Cloud'):
+        timestamp = msg.header.stamp.to_sec()
+
+        pointcloud_data = np.array([[-point.y, -point.z, point.x] for point in msg.points])
+
+        npy_filename = f"{timestamp:.6f}.npy"
+        npy_filepath = os.path.join(output_dir, npy_filename)
+        np.save(npy_filepath, pointcloud_data)
+
+
+    bag.close()
+
+
+
+bag_list = os.listdir('bag/')
+
+for name in bag_list:
+    bag_file_path  = 'bag/'+name
+    save_dir = 'radar_enhance_pcl/'+name[:-4]
+
+    if not os.path.exists(save_dir):
+        os.makedirs(save_dir)
+    extract_radar_pointcloud_from_rosbag(bag_file_path, save_dir)