BEV Map Visualization

[ry4nzhu]

Hi, In #21 you give some pointers to the BEV map coordinate, I'm wondering how we can visualize the BEV map processing results made by the vision encoder (like Fig 5 in the paper). Can you give me some brief instructions on how to do that (or pointers)?

Thanks!

[deepcs233]

Hi! You can refer to this script: https://github.com/opendilab/InterFuser/blob/main/interfuser/render.py The usage of the rendering function: https://github.com/opendilab/InterFuser/blob/4145d6ca58c19ce2a29d319c47980cea05586b06/leaderboard/team_code/interfuser_agent.py#L500

The expected visualization should be like: