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nutonomy / nuscenes-devkit

The devkit of the nuScenes dataset.
https://www.nuScenes.org
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Can bus and nuscenes data #999

Closed jeho-lee closed 11 months ago

jeho-lee commented 11 months ago

According to below,

https://github.com/nutonomy/nuscenes-devkit/blob/9b165b1018a64623b65c17b64f3c9dd746040f36/python-sdk/nuscenes/can_bus/can_bus_api.py#L36-L45

The route and ego pose are not aligned for some scenes. Could you give me a more detailed explanation? Does it mean the trajectories of the ego car are not well aligned with the map route?

whyekit-motional commented 11 months ago

@jeho-lee there are some scenes where the ego poses and baseline route are misaligned, and hence those are blacklisted - you can see the full details of how this is determined here: https://github.com/nutonomy/nuscenes-devkit/blob/9b165b1018a64623b65c17b64f3c9dd746040f36/python-sdk/nuscenes/can_bus/can_bus_api.py#L163-L188

jeho-lee commented 11 months ago

Thank you for the response. I will check the details.