GodMan

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Which coordinates does maptr choose?

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In the code [here](https://github.com/hustvl/MapTR/blob/e03f097abef19e1ba3fed5f471a8d80fbfa0a064/projects/mmdet3d_plugin/datasets/nuscenes_offlinemap_dataset.py#L77) , it announced using LIDAR coordinates, but LIDAR coordinates x is front, see bellow figure, so if we specific (bev_h, bev_w) = (200, 100), the point_cloud_range...

One traffic light has two differenct id, why？

Following next fig, the green data show there are same coords and cates but different id, why? How to predict this result using network? ![image](https://github.com/user-attachments/assets/00ea1bf8-af97-4848-a9f4-561b1d96ddb0)