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dotchen / WorldOnRails

(ICCV 2021, Oral) RL and distillation in CARLA using a factorized world model
https://dotchen.github.io/world_on_rails/
MIT License
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Question about converter between world and camera frame #32

Closed zqh0253 closed 2 years ago

zqh0253 commented 2 years ago

Hi,

I would like to know what does the parameter offset in lbc.models.converter::Converter mean physically. Say I want to build a agent with front camera RGB input (with H=180, W=320, crop_top=crop_bottom=10) and I set up the converter in the following way: self.converter = Converter(w=320, h=160, fov=50,offset=6.0, scale=[1.5,1.5]).to(self.device). But I am not sure whether the offset parameter is set up in the right way.

dotchen commented 2 years ago

It is a hyperparameter to fix the limited vertical FOV of the camera:

https://github.com/dotchen/LearningByCheating/issues/39