search

argoverse / argoverse-api

Official GitHub repository for Argoverse dataset
https://www.argoverse.org
Other
830 stars 238 forks source link

Visualize Filtered Centerline on Image is Wrong. #328

Open arijin opened 1 year ago

arijin commented 1 year ago

The origin code in argoverse_map_tutorial shows the prejection result of the centerlines on image. This step includes filtered the centerlines which is occluded. The function "plot_lane_centerlines_in_img2" provides this. But when filtering, the "clip_point_cloud_to_visible_region" is operating on the unsync lidar(ego) frame and camera frame. To correct this: Origin: centerline_egovehicle_fr = city_SE3_egovehicle.inverse().transform_point_cloud(centerline_city_fr) centerline_uv_cam = cam_SE3_egovehicle.transform_point_cloud(centerline_egovehicle_fr)

can also clip point cloud to nearest LiDAR point depth

    centerline_uv_cam = clip_point_cloud_to_visible_region(centerline_uv_cam, lidar_pts)  # Wrong!!!

Repair: centerline_egovehicle_fr = city_SE3_egovehicle.inverse().transform_point_cloud(centerline_city_fr)

can also clip point cloud to nearest LiDAR point depth

    **centerline_egovehicle_fr = clip_point_cloud_to_visible_region(centerline_egovehicle_fr, lidar_pts)**
    centerline_uv_cam = cam_SE3_egovehicle.transform_point_cloud(centerline_egovehicle_fr)

This visualization image result shows correctly.