OpenLane

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Turbulent lane curves when mapping 3D lanes onto pointclouds.

11

Hi! Thank you for your great work. I am trying to map your 3D points onto the corresponding pointclouds of waymo dataset. I noticed a problem:  Certain lanes seem...

Eralien

Hi, Do have a tool to visualize the groundtruth labels on the images before training or validation? I just want to browse through the OpenLane dataset with the projected labels...

asadnorouzi

Ref frame for extrinsics

4

Hi @dyfcalid , This one is related to the cam_representation question. Why are the extrinsics re computed? What are the original extrinsics with respect to? The following is the piece...

nikhil-nakhate

Is there an offical website holding leaderboard?

1

hi, as the title.

qinjian623

Inquery about Valid Label Range

1

For the points range, you select `[3, 103]` as your y-axis range, while the original [waymo point cloud](https://waymo.com/open/data/perception/#lidar-data) only reaches `75 meters` away. However, there are points `> 75m `in...

Mollylulu

Bugs in v1.1

3

Hi @ChonghaoSima @zihanding819 , I found some bugs in v1.1 1. https://github.com/OpenPerceptionX/OpenLane/blob/main/eval/LANE_evaluation/lane3d/eval_3D_lane.py#L182 `both_invisible_indices` are counted in `num_match_mat`, but https://github.com/OpenPerceptionX/OpenLane/blob/main/eval/LANE_evaluation/lane3d/eval_3D_lane.py#L236 the denominator only counts visible points. 2. https://github.com/OpenPerceptionX/OpenLane/blob/main/eval/LANE_evaluation/lane3d/eval_3D_lane.py#L203 those `-1`s should...

Aguin

A question about prune_3d_lane_by_visibility

2

Hi @zihanding819 , I notice that `gt_lanes = [prune_3d_lane_by_visibility(np.array(gt_lane), np.array(gt_visibility[k])) for k, gt_lane enumerate(gt_lanes)]` is removed in v1.1 and `gt_visibility` is not used in `bench`, does this mean we should...

Aguin

Comparing 3D annotations to Waymo Open Lane PCD

3

hi, As far as I understand from the documentation and discussions, the lane labels coordinate system is that of the camera. So by multiplying them by the extrinsic matrix of...

presmann

3D lane generation pipeline

5

Hi, thanks for your [nice paper](https://arxiv.org/pdf/2203.11089.pdf). Could you please share the code related to the 3d lane generation pipeline? This was used for the ground truth if I understood correctly?...

manivmtc

About global pose of every frame

2

In original Waymo dataset, there is a global pose of every frame. It's very beneficial to study on or evaluate some work related to temporal model, such as temporal segmentation,...

qiaozhijian