Is there any helper functions to visualize the predicted trajectories & gt ?

[sean-wade]

I want to visualize the predicted trajs. But I cannot find any code in your repo. So is there any way to visualize it on the bev images?

Maybe nuscenes has the render function (I'm not familar.)?

Thanks for reply.

[GentleSmile]

We have not released the visualization code because the tool is complicated to deploy. To visualize only predicted and gt trajectories on bev images is easy. Predicted trajectories have been obtained here, and gt trajectories are obtained here.

[sean-wade]

Thanks for reply. I just don't know how to render the trajectories on the map of nuscenes. Is there any way to do it?

[GentleSmile]

For map information, we have lanes that have been normalized to the ego coordinate system. You may refer to a simple rendering function here in our another repository.

[sean-wade]

OK, thanks! I'll try it.