Can we build associations with gt of nuScenes' 3D detection?

[exiawsh]

Hello, thank you for your great work! May I ask if you keep association with the sample token of nuScenes in subset B? Is it possible to use both topology annotation and 3D detection annotation simultaneously?

[faikit]

Currently we only have association between static elements.

But I think it is possible to extend association to dynamic objects. Do you suggest the positional association between them or some other kinds of association?

[exiawsh]

@faikit Thank you for the response! I'm sorry. I mean, for the same scene, I want to obtain the gts of dynamic objects (in the original nuscenes) and static elements (in your work). Do you keep some interface (e.g. sample token, timestamp, scene token)?

[exiawsh]

It seems that the source_id is the same as the sample token in nuscenes?

[sephyli]

Hello,

In OpenLane-V2, the source_id corresponds to the scene_token in nuScenes. We have not recorded the sample_token, but you can correlate samples from OpenLane-V2 with those from nuScenes using the scene_token and timestamp. Additionally, please note that the timestamps in OpenLane-V2 are aligned with the front-view camera.

[exiawsh]

Hello,

In OpenLane-V2, the source_id corresponds to the scene_token in nuScenes. We have not recorded the sample_token, but you can correlate samples from OpenLane-V2 with those from nuScenes using the scene_token and timestamp. Additionally, please note that the timestamps in OpenLane-V2 are aligned with the front-view camera.

Thank you so much! I will try.

[sephyli]

Additionally, you may be interested to know that some scenes are missing in OpenLane-V2 subset-B due to the absence of certain annotations. For more information, please see issue #74.

[exiawsh]

@sephyli Sorry to bother you again. What's the gts' coordinate of the centerlines, in imu or lidar coordinate?

[sephyli]

The centerline GTs' coordinate is in imu/ego coordinare.

[faikit]

[exiawsh]

@faikit @sephyli Thank you!

[Wolfybox]

Hello,

In OpenLane-V2, the source_id corresponds to the scene_token in nuScenes. We have not recorded the sample_token, but you can correlate samples from OpenLane-V2 with those from nuScenes using the scene_token and timestamp. Additionally, please note that the timestamps in OpenLane-V2 are aligned with the front-view camera.

hi, does subset_A have similar association with Argoverse2?