search

wudongming97 / TopoMLP

[ICLR2024] TopoMLP: A Simple yet Strong Pipeline for Driving Topology Reasoning
Apache License 2.0
131 stars 11 forks source link

control points 4 or 11 #27

Closed Fightinging1997 closed 2 weeks ago

Fightinging1997 commented 2 weeks ago

Hi, thanks for open-sourcing the code!

I don't quite understand the meaning of the following paragraph in the paper.

LaneDetector. The lane query number is set to NL=300, and the number of control points is 4. Duringtraining, the control points are transformed into 11 lane points forcal culating loss.

Does the above sentence mean training by 11 points and inference by 4 points? If that's what it means, how do you do it?

wudongming97 commented 2 weeks ago

Because our lane head is bezier-based, it outputs 4 control points and transforms them into 11 lane points using a transformation matrix. Both training and testing are the same.

Fightinging1997 commented 2 weeks ago

Thank you for your answer, but I still have some questions. Where does transforms refer to here?

wudongming97 commented 2 weeks ago

Please refer to this line: https://github.com/wudongming97/TopoMLP/blob/master/projects/topomlp/models/heads/lane_head.py#L731

Fightinging1997 commented 2 weeks ago

Thank you for your answer.