Mrmoore98 / VectorMapNet_code

This is the official code base of VectorMapNet (ICML 2023)
https://tsinghua-mars-lab.github.io/vectormapnet/
GNU General Public License v3.0
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the output of the network #27

Open hxzl-98 opened 1 year ago

hxzl-98 commented 1 year ago

Hello: I have a question about network output. I see that the description of the output of the detection layer in the paper is the key point of the output. But I see that there is a bbox item in the output of the network, and I don't quite understand what this item refers to?

output: {'bboxes': array([[6.78633928e-01, 6.01761818e+01, 1.93001175e+02, 6.79676743e+01], [1.08551838e-01, 4.70667648e+01, 1.86040192e+02, 5.29992828e+01], [6.80525422e-01, 2.62875919e+01, 1.92955597e+02, 3.81990242e+01], [1.02617390e-01, 3.25979652e+01, 1.84140854e+02, 4.01845512e+01], [1.05492517e-01, 5.98437958e+01, 1.91393829e+02, 6.87072525e+01], [1.81369720e+02, 2.33432560e+01, 1.93190247e+02, 5.72784538e+01], [1.88910370e+02, 4.01633382e-01, 1.93277222e+02, 8.93388557e+00], [1.79586243e+02, 2.42032280e+01, 1.93305893e+02, 4.72062874e+01], [1.91144730e+02, 2.27989311e+01, 1.93756271e+02, 2.95024147e+01], [6.78633928e-01, 6.01761818e+01, 1.93001175e+02, 6.79676743e+01], [1.90761978e+02, 2.59762257e-01, 1.94180695e+02, 5.82593441e+00], [1.90761978e+02, 2.59762257e-01, 1.94180695e+02, 5.82593441e+00], [6.80525422e-01, 2.62875919e+01, 1.92955597e+02, 3.81990242e+01], [1.85216492e+02, 2.65239029e+01, 1.93401489e+02, 3.85059166e+01], [1.02617390e-01, 3.25979652e+01, 1.84140854e+02, 4.01845512e+01], [2.76825070e-01, 3.56894493e+01, 7.70324850e+00, 6.78138351e+01], [1.85932480e+02, 3.02446365e+01, 1.94091919e+02, 5.06113396e+01], [1.39293045e-01, 3.63400269e+01, 4.07710886e+00, 3.95115547e+01], [1.15843095e-01, 4.77807922e+01, 6.45543623e+00, 5.14295387e+01], [3.00876260e-01, 3.58237915e+01, 1.86568237e+02, 4.11329613e+01], [5.80193043e-01, 6.37207260e+01, 1.93202469e+02, 8.26292801e+01], [1.39293045e-01, 3.63400269e+01, 4.07710886e+00, 3.95115547e+01], [6.78633928e-01, 6.01761818e+01, 1.93001175e+02, 6.79676743e+01], [1.81008484e+02, 8.73821945e+01, 1.94158020e+02, 9.38624649e+01], [1.81397156e+02, 6.52198868e+01, 1.93095413e+02, 9.34513397e+01], [1.81397156e+02, 6.52198868e+01, 1.93095413e+02, 9.34513397e+01], [1.90826172e+02, 1.05982714e+01, 1.93410660e+02, 2.62504349e+01], [1.88526321e+02, 5.90005226e+01, 1.94155319e+02, 6.37259140e+01], [1.79007812e+02, 2.92288876e+01, 1.92638367e+02, 3.67737999e+01], [1.08551838e-01, 4.70667648e+01, 1.86040192e+02, 5.29992828e+01], [2.93112993e-01, 5.80386937e-01, 4.47237730e+00, 2.74098625e+01], [2.76825070e-01, 3.56894493e+01, 7.70324850e+00, 6.78138351e+01], [1.81008484e+02, 8.73821945e+01, 1.94158020e+02, 9.38624649e+01], [1.81369720e+02, 2.33432560e+01, 1.93190247e+02, 5.72784538e+01], [1.81008484e+02, 8.73821945e+01, 1.94158020e+02, 9.38624649e+01]], dtype=float32), 'det_gt': {'labels': array([2, 2, 0, 1, 1, 1]), 'bboxes': array([[6.45161280e-01, 2.52892107e+01, 1.92903221e+02, 3.84038806e+01], [6.45161280e-01, 5.85715175e+01, 1.92903221e+02, 6.65090799e+01], [1.83304691e+02, 2.39421144e+01, 1.92903221e+02, 6.25449777e+01], [1.00000000e-01, 3.21644127e+01, 1.79604363e+02, 3.84038806e+01], [1.00000000e-01, 5.85715175e+01, 1.85901928e+02, 6.65090799e+01], [1.00000000e-01, 4.58673418e+01, 1.82653165e+02, 5.14953911e+01]])},