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ThierryDeruyttere / Talk2Car-Destination

The official repo for the Talk2Car-Destination expansion to Talk2Car
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Question about how to convert from a topdown view to a frontal view #1

Closed Katsuyuki0007 closed 2 years ago

Katsuyuki0007 commented 2 years ago

Hi, thanks for your great dataset! I wanted to try to convert the Ground Truth in the top-down view onto the frontal view, and I referred to draw_heatmap_frontal_t2c, but I could not figure out why the constants(ex. 120, 7, 80, 40) in it have these values.

x = x / X.shape[0] * 120 - 7
y = y / X.shape[1] * 80 - 40

What are these values based on?

ThierryDeruyttere commented 2 years ago

Hi there!

Thank you for the interest in our dataset! In Section 3 (Dataset) from our paper you can find the following sentence:

We normalize the sizes of the top-down views such that they correspond to physical map regions of 120 × 80 meters in size, with the ego-car located seven meters (7 meters) from the left boundary and halfway (40 meters) along the height of the top-down view

I hope this helps.