update to support different roi_size(perception range)

woodfrog · May 15, 2024 · d3077ac · d3077ac
1 parent 4f19829
commit d3077ac
Show file tree

Hide file tree

Showing 2 changed files with 9 additions and 4 deletions.
diff --git a/plugin/datasets/map_utils/av2map_extractor.py b/plugin/datasets/map_utils/av2map_extractor.py
@@ -392,7 +392,6 @@ def get_map_geom(self,
                      log_id: str, 
                      e2g_translation: NDArray, 
                      e2g_rotation: NDArray,
-                     pc_range=[-30.0, -15.0, -5.0, 30.0, 15.0, 3.0],
                      polygon_ped=True) -> Dict[str, List[Union[LineString, Polygon]]]:
         ''' Extract geometries given `log_id` and ego pose.
         
@@ -410,8 +409,8 @@ def get_map_geom(self,
 
         avm = self.id2map[log_id]
 
-        patch_h = pc_range[4]-pc_range[1]
-        patch_w = pc_range[3]-pc_range[0]
+        patch_h = self.roi_size[1]
+        patch_w = self.roi_size[0]
         patch_size = (patch_h, patch_w)
         map_pose = e2g_translation[:2]
         rotation = Quaternion._from_matrix(e2g_rotation)

diff --git a/tools/tracking/calculate_cmap.py b/tools/tracking/calculate_cmap.py
@@ -334,7 +334,13 @@ def main():
     roi_size = torch.tensor(cfg.roi_size).numpy()
     origin = torch.tensor(cfg.pc_range[:2]).numpy()
 
-    thresholds_list = [0.5,1.0,1.5]
+    if roi_size[0] == 60:
+        thresholds_list = [0.5,1.0,1.5]
+    elif roi_size[0] == 100:
+        thresholds_list = [1.0, 1.5, 2.0]
+    else:
+        raise ValueError('roi size {} not supported, check again...'.format(roi_size))
+
     if 'newsplit' in args.result_path:
         gts = get_gts(dataset,new_split=True)
     else: