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dotchen / LAV

(CVPR 2022) A minimalist, mapless, end-to-end self-driving stack for joint perception, prediction, planning and control.
https://dotchen.github.io/LAV/
Apache License 2.0
400 stars 69 forks source link

Cropped other bevs shift from locs #29

Closed KP-Zhang closed 2 years ago

KP-Zhang commented 2 years ago

Hello, Sorry to bother you.

In bev_planner_v2.py, when plotting the cropped_other_bev, I find that some bevs shift from their original their locs. As shown in Fig. (c), the locs are plotted as red dots, which shifts away from the vehicle colored with yellow. I have already set the feature_x_jitter, feature_y_jitter, x_jitter, a_jitter to 0. The crop_feature code can be found bellow. locs_jitter = (torch.rand((K,2))*2-1).float().to(locs.device) * self.feature_x_jitter locs_jitter[:,1] = 0 oris_jitter = (torch.rand((K,))*2-1).float().to(oris.device) * self.feature_angle_jitter cropped_other_bev = self.crop_feature(flat_bev, flat_rel_loc0+locs_jitter, flat_rel_ori0+oris_jitter, pixels_per_meter=self.pixels_per_meter, crop_size=self.crop_size*2)

How can I crop other bevs as Fig. (b)? Thank you for your time.

cropped_other_bev
KP-Zhang commented 2 years ago

Solved. It is a pedestrian walked by. Thank you for your code.