Firstly, I want to express my gratitude for releasing the trajdata repository. I have a couple of questions regarding Obtaining possible future lanes and adding Frenet Serret coordinate info and would greatly appreciate any guidance or pointers.
I'm interested in finding the closest lane (or possible future lanes given the current states) to the ego vehicle's future trajectories and transforming them into the Frenet Serret coordinate system. My goal is to add this functionality to the trajdata repository and store the transformed coordinates in the AgentBatch attribute, such as data_batch["agent_history_sd"].
1.) Obtaining possible future lanes: In my exploration of the repository, I came across the get_current_lane function in the map/vec_map.py file and a RoadLane class in maps/vec_map_elements.py. I'm wondering if there is a way to utilize this function or any other existing functions in the repository to find all the possible future lanes. Could you please guide me on how to achieve this task within the current codebase?
2.)Storage of transformed coordinates: I would like to store the transformed coordinates, specifically the Frenet Serret coordinates, in the AgentBatch attribute. Could you provide suggestions or examples on where I can effectively place this information within the existing codebase (Maybe adding in extras during UnifiedDataset's init?
Hi there,
Firstly, I want to express my gratitude for releasing the trajdata repository. I have a couple of questions regarding Obtaining possible future lanes and adding Frenet Serret coordinate info and would greatly appreciate any guidance or pointers.
I'm interested in finding the closest lane (or possible future lanes given the current states) to the ego vehicle's future trajectories and transforming them into the Frenet Serret coordinate system. My goal is to add this functionality to the trajdata repository and store the transformed coordinates in the AgentBatch attribute, such as data_batch["agent_history_sd"].
1.) Obtaining possible future lanes: In my exploration of the repository, I came across the get_current_lane function in the
map/vec_map.pyfile and a RoadLane class inmaps/vec_map_elements.py. I'm wondering if there is a way to utilize this function or any other existing functions in the repository to find all the possible future lanes. Could you please guide me on how to achieve this task within the current codebase?2.)Storage of transformed coordinates: I would like to store the transformed coordinates, specifically the Frenet Serret coordinates, in the AgentBatch attribute. Could you provide suggestions or examples on where I can effectively place this information within the existing codebase (Maybe adding in extras during UnifiedDataset's init?
Looking forward to your response. Thank you!
Best regards,