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mit-han-lab / bevfusion

[ICRA'23] BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation
https://bevfusion.mit.edu
Apache License 2.0
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Visualization from pkl #620

Closed gerardmartin2 closed 4 months ago

gerardmartin2 commented 6 months ago

When using tools/test.py a .pkl file is generated with the bbox predictions. My questions are two:

  1. How to obtain visualizations from this .pkl file? I do not want to use the 'visualize.py' script since it does inference again, which is not needed if I already have the predictions.
  2. In addition, if I want to visualize the results in the map (with road segmentations and so on), I guess I have to convert coordinate system to global for each bbox. Any hint on how to retrieve this matrices (or to do this in general)?

Thanks in advance