LearningByCheating
LearningByCheating copied to clipboard
Potential Bug in BEV maps generation
We note some inconsistency in the data collection, and we are wondering if you could help us out.
In map_utils.py
, the hero_xxx_surface
are constructed bigger than the output size so that rotation would not cause loss of pixels. The resolution is constructed the same as the output window_xxx_surface
, which is 5 pixels per meter. This is shown by the following line.
scaled_original_size = self.original_surface_size * (1.0 / 0.9)
self.hero_map_surface = pygame.Surface((scaled_original_size, scaled_original_size)).convert()
However, we notice during rotation,
rotated_map_surface = rz(self.hero_map_surface, angle, 0.9).convert()
There is a 0.9 shrinking. Wouldn't this cause the output to no longer have 5 pixels per meter resolution.
Thanks.