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alfredgu001324 / MapUncertaintyPrediction

[CVPR 2024 Award Candidate] Producing and Leveraging Online Map Uncertainty in Trajectory Prediction
https://arxiv.org/abs/2403.16439
Apache License 2.0
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two question on visualization of map estimation #11

Open Chenqingsu1 opened 2 months ago

Chenqingsu1 commented 2 months ago

Q①How can I find the actual photos corresponding to each sample_idx in maptr? Q②In the visualization of the map estimation model in the paper, there are "car" elements, but these are not included in mapping_results.pkl. How can I visualize the "car" elements as well?

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Chenqingsu1 commented 2 months ago

image Visualization of PKL as shown in the figure Thank you very much. I hope you can help me.

alfredgu001324 commented 1 month ago

Thanks for reaching out!

Q1. A good question actually, I remember I did have some code to retrieve the images. But due to some file management issue I lost that part of the code, but I still have the image files stored locally so I just directly access it from my local folder (sorry). But in MapTR's code, specifically this for loop, I believe it is used for accessing the images. Maybe you can add that to the current visualization script you have.

Q2. Yes, you can refer to the visualization instructions I have. In there I put the bboxes file as well that you can use.

Chenqingsu1 commented 1 month ago

Thanks for reaching out!

Q1. A good question actually, I remember I did have some code to retrieve the images. But due to some file management issue I lost that part of the code, but I still have the image files stored locally so I just directly access it from my local folder (sorry). But in MapTR's code, specifically this for loop, I believe it is used for accessing the images. Maybe you can add that to the current visualization script you have.

Q2. Yes, you can refer to the visualization instructions I have. In there I put the bboxes file as well that you can use.

Thank you for the above answer. sry to bother you, I have one more question : specifically, which pkl file is loaded for the visualization of GT?I loaded the gt_full_val.pickle file, but it does not contain "bbox".

alfredgu001324 commented 1 month ago

Yes, gt_full_val.pickle only contains the gt map information. The bbox information download link is in the visualization page. Since it is not required in our pipeline, I did not put them together. But maybe you are right, I should put them together to avoid confusion.

Chenqingsu1 commented 1 month ago

Sorry to bother you. May I ask if the corresponding real images in your visualization demo need to be downloaded separately? I'm not sure about the source of the real images.

alfredgu001324 commented 1 month ago

Sorry for the lat response. They are part of the nuscenes dataset, you should be able to find them based on the file name path in the image metas.