From efd33b52483fa297ae0c01588217c7ca96872cfd Mon Sep 17 00:00:00 2001 From: ZiYangXie <59246000+ZiYang-xie@users.noreply.github.com> Date: Fri, 21 Apr 2023 01:08:30 +0800 Subject: [PATCH] Improve mask generation script for nuScenes data (#1679) * Fix bug: Improve mask generation script for nuScenes data * Run black --------- Co-authored-by: Matthew Tancik Co-authored-by: Matthew Tancik --- scripts/datasets/process_nuscenes_masks.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/scripts/datasets/process_nuscenes_masks.py b/scripts/datasets/process_nuscenes_masks.py index cb9328f95..c86baec03 100644 --- a/scripts/datasets/process_nuscenes_masks.py +++ b/scripts/datasets/process_nuscenes_masks.py @@ -79,8 +79,11 @@ class ProcessNuScenesMasks: # Instead use BoxVisibility.NONE and make sure to rasterize box faces correctly mask = np.ones((900, 1600), dtype=np.uint8) - for box in boxes: + # If is backcam, mask the truck of the ego vehicle + if camera == "CAM_BACK": + mask[-100:] = 0 + for box in boxes: # Dont mask out static objects (static in all frames) instance_token = nusc.get("sample_annotation", box.token)["instance_token"] if not instances_is_dynamic[instance_token]: