Closed sean-wade closed 10 months ago
Because (0.0, visible_y)
is at a distance of visible_y
meters in front of the ego vehicle. It aims to focus more area in front of the ego vehicle than the area in the back.
Because
(0.0, visible_y)
is at a distance ofvisible_y
meters in front of the ego vehicle. It aims to focus more area in front of the ego vehicle than the area in the back.
But I saw the lane point is normalized before calculate the distance:
lane = normalizer(lane)
Isn't the new lane point is under ego coordinate? And the y is on the left of ego-vehicle?
It seems that the normalizer does not normalize the direction of the ego vehicle (link, the angle is constant). visible_y
should be set to 0.
It seems that the normalizer does not normalize the direction of the ego vehicle (link, the angle is constant).
visible_y
should be set to 0.
So maybe we should use line:452 :
yaw = quaternion_yaw(Quaternion(sample_annotation['rotation']))
instead of using the constant 90.
And the visible_y set to 0?
Maybe set the base point to (30, 0) instead of (0, 30)?
Yes, base point should be (0, 0) or (30, 0). The normalizer should be
yaw = Quaternion(cur_e2g_r).yaw_pitch_roll[0]
normalizer = utils.Normalizer(agent_x, agent_y, -yaw)
Yes, base point should be (0, 0) or (30, 0). The normalizer should be
yaw = Quaternion(cur_e2g_r).yaw_pitch_roll[0]
normalizer = utils.Normalizer(agent_x, agent_y, -yaw)
OK, thanks a lot!
In dataset.py (line:479, https://github.com/Tsinghua-MARS-Lab/ViP3D/blob/c4a60b01a4b5d68289c1958d2e6935ed73d76964/plugin/vip3d/dataset.py#L478C74-L478C74)
I don't know why calculate the distance between (0.0, visible_y)?
lane = np.array([point for point in lane if get_dis_point2point(point, (0.0, visible_y)) < max_dis])