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autonomousvision / transfuser

[PAMI'23] TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving; [CVPR'21] Multi-Modal Fusion Transformer for End-to-End Autonomous Driving
MIT License
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Prediction Visualizing #165

Closed JianLiMech closed 1 year ago

JianLiMech commented 1 year ago

Hi, thanks for your great work!

I have tried the transfuser, and it works perfectly.

But I have a problem, how can I visualize the predictions like the gif image in transfuser github? image

Looking forward to seeing your reply! Thanks again!

Kait0 commented 1 year ago

This particular video was cut together with a video editing software. The individual components you can generate with https://github.com/autonomousvision/transfuser/blob/337957f9095a296aa7ab2ff1cea16eecca011848/team_code_transfuser/model.py#L935

You can look at https://github.com/autonomousvision/transfuser/blob/337957f9095a296aa7ab2ff1cea16eecca011848/team_code_transfuser/submission_agent.py#L297 to see how it is used.