search

carla-simulator / carla

Open-source simulator for autonomous driving research.
http://carla.org
MIT License
11.11k stars 3.58k forks source link

Obtaining ground truth occupancy grids #7197

Closed carlostojal closed 4 months ago

carlostojal commented 6 months ago

Hi. I am developing a project that needs the ground truth occupancy grid of the map (either 2D or 3D, preferably the latter), but I couldn't find any documentation regarding that. Does anyone know how can this be achieved? Thanks in advance.

yhh-IV commented 6 months ago

Currently I have used Lidar sensor to obtain the occupancy grid. But I still expect for a better choice.

PatrickPromitzer commented 6 months ago

It depends on the data you need. With the Semantic LIDAR, you get the semantic tag (house, ground, road, ...) and index of the object. https://carla.readthedocs.io/en/latest/ref_sensors/#semantic-lidar-sensor

For the camera, there exists a semantic version, too. https://carla.readthedocs.io/en/latest/ref_sensors/#semantic-segmentation-camera

What kind of data do you need for your occupancy grid?

carlostojal commented 6 months ago

It depends on the data you need. With the Semantic LIDAR, you get the semantic tag (house, ground, road, ...) and index of the object. https://carla.readthedocs.io/en/latest/ref_sensors/#semantic-lidar-sensor

For the camera, there exists a semantic version, too. https://carla.readthedocs.io/en/latest/ref_sensors/#semantic-segmentation-camera

What kind of data do you need for your occupancy grid?

In this case, I only need a probability of whether voxels are occupied or not. It is doable from the point cloud, but I opened the issue in the hope of existing a direct way of obtaining it without the need to do the post-processing myself. Thanks for the insights anyway :)

Sreesruth commented 5 months ago

hello, what is the issue that is to be fixed ??

Sreesruth commented 4 months ago

please close it, thank you will ir be alright to ask any questions after closing the issue ??

On Fri, 3 May 2024 at 18:12, Marcel Pi @.***> wrote:

Hi,

Should I close this issue? Or do you still need help with this?

Marcel

— Reply to this email directly, view it on GitHub https://github.com/carla-simulator/carla/issues/7197#issuecomment-2092941296, or unsubscribe https://github.com/notifications/unsubscribe-auth/A2PUJAXJNUJF6BERWIC3JJDZAOA4RAVCNFSM6AAAAABEADX46WVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDAOJSHE2DCMRZGY . You are receiving this because you commented.Message ID: @.***>