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Remove render_if_no_points argument from lidarseg tutorial #423

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merged 2 commits into from
Jun 26, 2020
Merged

Remove render_if_no_points argument from lidarseg tutorial #423

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a6d93bf
Remove render_if_no_points arg and section
Jun 26, 2020
73bc63c
Rephrasing
Jun 26, 2020
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36 changes: 3 additions & 33 deletions python-sdk/tutorials/nuscenes_lidarseg_tutorial.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -189,37 +189,6 @@
" verbose=True)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Say you happen to choose a camera channel where there are no points to show after filtering; you can set ```render_if_no_points=False``` so that nothing is displayed / saved in this case. For example, if we filter to see bicycles and objects which are pushable or pullable, and there are no points belonging to those classes, then:"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"nusc.render_pointcloud_in_image(my_sample['token'],\n",
" pointsensor_channel='LIDAR_TOP',\n",
" camera_channel='CAM_BACK',\n",
" render_intensity=False,\n",
" show_lidarseg=True,\n",
" filter_lidarseg_labels=[21, 11],\n",
" show_lidarseg_legend=True,\n",
" verbose=True,\n",
" render_if_no_points=False)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"This might be useful when you want to render a bunch of sample tokens, but only for those which contain useful information (i.e. points belonging to certain classes) in them."
]
},
{
"cell_type": "markdown",
"metadata": {},
Expand All @@ -245,7 +214,7 @@
"metadata": {},
"source": [
"## Render a scene for a given camera sensor with lidarseg labels\n",
"You can also render an entire scene with the lidarseg labels for a camera of your choosing (the ```filter_lidarseg_labels``` and ```render_if_no_points``` arguments are present here as well)."
"You can also render an entire scene with the lidarseg labels for a camera of your choosing (the ```filter_lidarseg_labels``` argument can be used here as well)."
]
},
{
Expand Down Expand Up @@ -315,7 +284,7 @@
"cell_type": "markdown",
"metadata": {},
"source": [
"When `render_mode='image', only frames which contain points (after the filter has been applied) will be saved as images."
"When `render_mode='image'`, only frames which contain points (after the filter has been applied) will be saved as images."
]
},
{
Expand All @@ -336,6 +305,7 @@
"source": [
"# nusc.render_scene_lidarseg(my_scene['token'], \n",
"# filter_lidarseg_labels=[26, 9],\n",
"# dpi=100,\n",
"# out_path=os.path.expanduser('~/Desktop/my_rendered_scene.avi'))"
]
},
Expand Down