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Morphlng / Carla_nuScenes_BEV

Generate nuScenes style birdeye-view image in Carla Simulator
MIT License
19 stars 2 forks source link

Vector Map #1

Open raozhongyu opened 8 months ago

raozhongyu commented 8 months ago

Hi, Thanks for your work. I have a question about how to generate the Vector BEV map in carla just like the nuscenes？ Can you give me some suggestions?

Morphlng commented 8 months ago

Vector BEV map in carla just like the nuscenes？

Would you please provide an example of Vector BEV? If what you mean is to remove the background OpenDrive map view or replace it with other color, you may adjust the color that used for map rendering (especially the draw_topology part): https://github.com/Morphlng/Carla_nuScenes_BEV/blob/2b29a2aa7dda1a457cec8e52a66862c91ead4967/birdeye_render.py#L189

raozhongyu commented 8 months ago

Sorry for the late reply. The vector map denotes that a dictionarly that contains the information of the relative map. For instance {lane: (x1,y1)-(x2,y2),junction:}

Just like the dataset used in the online hd_map generation.