OpenDriveLab/OpenLane-V2

Can we build associations with gt of nuScenes' 3D detection?

exiawsh opened this issue · 11 comments

Hello, thank you for your great work! May I ask if you keep association with the sample token of nuScenes in subset B? Is it possible to use both topology annotation and 3D detection annotation simultaneously?

faikit commented

Currently we only have association between static elements.

But I think it is possible to extend association to dynamic objects. Do you suggest the positional association between them or some other kinds of association?

@faikit Thank you for the response! I'm sorry. I mean, for the same scene, I want to obtain the gts of dynamic objects (in the original nuscenes) and static elements (in your work). Do you keep some interface (e.g. sample token, timestamp, scene token)?

It seems that the source_id is the same as the sample token in nuscenes?

Hello,

In OpenLane-V2, the source_id corresponds to the scene_token in nuScenes. We have not recorded the sample_token, but you can correlate samples from OpenLane-V2 with those from nuScenes using the scene_token and timestamp. Additionally, please note that the timestamps in OpenLane-V2 are aligned with the front-view camera.

Hello,

In OpenLane-V2, the source_id corresponds to the scene_token in nuScenes. We have not recorded the sample_token, but you can correlate samples from OpenLane-V2 with those from nuScenes using the scene_token and timestamp. Additionally, please note that the timestamps in OpenLane-V2 are aligned with the front-view camera.

Thank you so much! I will try.

Additionally, you may be interested to know that some scenes are missing in OpenLane-V2 subset-B due to the absence of certain annotations. For more information, please see issue #74.

@sephyli Sorry to bother you again. What's the gts' coordinate of the centerlines, in imu or lidar coordinate?

The centerline GTs' coordinate is in imu/ego coordinare.

faikit commented

image

@faikit @sephyli Thank you!

Hello,

In OpenLane-V2, the source_id corresponds to the scene_token in nuScenes. We have not recorded the sample_token, but you can correlate samples from OpenLane-V2 with those from nuScenes using the scene_token and timestamp. Additionally, please note that the timestamps in OpenLane-V2 are aligned with the front-view camera.

hi, does subset_A have similar association with Argoverse2?