About the height information in the dataset.

[nemonswx]

Is there a way to find the height information for various object in the dataset? Like ego vehicle rear axle, tracked objects and road element?

[ycool]

# ego height 
nuplan/common/actor_state/vehicle_parameters.py
def get_pacifica_parameters() -> VehicleParameters:
    """
    :return VehicleParameters containing parameters of Pacifica Vehicle.
    """
    return VehicleParameters(
        vehicle_name="pacifica",
        vehicle_type="gen1",
        width=1.1485 * 2.0,
        front_length=4.049,
        rear_length=1.127,
        wheel_base=3.089,
        cog_position_from_rear_axle=1.67,
        height=1.777,
    )

# tracked objects height 
        SELECT  c.name AS category_name,
                lb.x,
                lb.y,
                lb.z,
                lb.yaw,
                lb.width,
                lb.length,
                lb.height,
                lb.vx,
                lb.vy,
                lb.token,
                lb.track_token,
                lp.timestamp
        FROM lidar_box AS lb
        INNER JOIN track AS t
            ON t.token = lb.track_token
        INNER JOIN category AS c
            ON c.token = t.category_token
        INNER JOIN lidar_pc AS lp
            ON lp.token = lb.lidar_pc_token
        WHERE lp.token = ?