search

autonomousvision / carla_garage

[ICCV'23] Hidden Biases of End-to-End Driving Models
MIT License
203 stars 16 forks source link

Question about the "route" in measurements file #24

Closed raozhongyu closed 7 months ago

raozhongyu commented 7 months ago

Hi, Thanks for your great work. I'd like to use the code to save the hd_map data. I notice that the route in measurements seems like to be the map information. Can you give me some details. Thanks a lot!

Kait0 commented 7 months ago

The route as well as the bev segmentation are created using HD-Map information. We don't save the entire HD-map in the dataset. If you just want to store the whole HD-map on disk you could just store the string you get from the HD-map sensor in a .txt file and run that code for every map. You can see how to make a carla.Map object from the HD-map string here (e.g. you can load the string later once you need it).

raozhongyu commented 7 months ago

Thanks a lot. I will try it.

发自我的iPhone

------------------ Original ------------------ From: Bernhard Jaeger @.> Date: Tue,Jan 9,2024 10:26 PM To: autonomousvision/carla_garage @.> Cc: raozhongyu @.>, Author @.> Subject: Re: [autonomousvision/carla_garage] Question about the "route" inmeasurements file (Issue #24)

raozhongyu commented 7 months ago

Hi, I have collect the surrounding hd map information based on the exsiting dataset. I meet a little problem, where I only want to collect the front information of ego-car. I'd like to konw how to get the yaw and roation based on the exsiting information in your dataset such as the ego matrix, the theta.

Kait0 commented 7 months ago

https://github.com/autonomousvision/carla_garage/blob/fb4b180332e465c53095ad6de29429442664882c/team_code/autopilot.py#L359 The global yaw of the ego vehicle is stored in the measurement file as theta.