actual scale for the corresponding BEV

[yejy53]

I have a question, what is the actual scale for the corresponding BEV? For example, if I use the demo, the generated BEV square is 64*129, and the actual scale for each grid is (m)?

[yejy53]

Suppose I have a panoramic image now, how should I modify the generation of BEV, so that it can no longer be in the frustum space

[sarlinpe]

Sorry for the late reply. The resolution is 2 pixels per meter:

OrienterNet/maploc/conf/orienternet.yaml

Line 12 in 71e89eb

pixel_per_meter: ${data.pixel_per_meter}

OrienterNet/maploc/conf/data/mapillary.yaml

Line 29 in 71e89eb

pixel_per_meter: 2

This can be changed during data processing.

[martin-liao]

Sorry for the late reply. The resolution is 2 pixels per meter:

OrienterNet/maploc/conf/orienternet.yaml

Line 12 in 71e89eb

pixel_per_meter: ${data.pixel_per_meter}

OrienterNet/maploc/conf/data/mapillary.yaml

Line 29 in 71e89eb

pixel_per_meter: 2

This can be changed during data processing.

The paper mentioned BEV has size LXD=32x32m with resolution delta=50cm, which means the shape of bev features should be 64x64 equally. However, in link, the grid_size is set to [129 (64 * 2 + 1,64). Maybe the additional 1 is a dummy bins like issue30?

[sarlinpe]

Not a dummy bin - we chose to position the camera at the center of the middle cell so the width of the BEV should be odd. The paper is incorrect, the size of the BEV is actually LxD=65x32m - I will try to fix it at some point.

[martin-liao]

Oh, I understand. Thank you!