chore(rosbag2_to_nonannotated): updated lidar metainfo format#267
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Pull Request Overview
This PR updates the lidar metadata format by removing dependencies on ConcatenatedPointCloudInfo message structure for point cloud processing and introducing a new JSON-based metadata format with source ID mapping.
Key changes:
- Removed lidar index extraction from point cloud data processing
- Introduced configurable lidar source mapping to translate topics to source IDs
- Simplified lidar info metadata JSON format to include only essential fields (stamp and sources)
Reviewed Changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 3 comments.
| File | Description |
|---|---|
| perception_dataset/utils/rosbag2.py | Removed lidar index handling and info message parameters from point cloud conversion functions; added zero-point filtering |
| perception_dataset/rosbag2/rosbag2_to_non_annotated_t4_converter.py | Updated to use new lidar info format with source ID mapping; refactored parameter passing |
| perception_dataset/rosbag2/converter_params.py | Introduced structured LidarSensor model with dictionary access support and lidar_sources_mapping field |
| config/convert_rosbag2_to_non_annotated_t4_with_lidar_info_sample.yaml | Added example lidar sources mapping configuration |
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jacoblambert
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I may be underqualified for this review so feel free to correct me if I'm totally misunderstanding, but please take a look at my comments.
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Thanks for addressing these issues, LGTM!! |
jacoblambert
approved these changes
Nov 20, 2025
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Description
This PR updates the conversion of lidar pointcloud metainfo to match the definition in t4-devkit. In addition, it does some minor refactoring and removes the
lidar_indexfield in the pcd files to match nucenes (and t4-devkit) format (x,y,z,intensity,ring_index).How it was tested
Tested locally using several rosbags.