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metadriverse / scenarionet

ScenarioNet: Scalable Traffic Scenario Management System for Autonomous Driving

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normalize all positions with ego car's first frame position as origin

QuanyiLi opened this issue · comments

commented

There is a function ScenaioDescription.centralize_to_ego_car_initial_position() which should be called after processing all scenarios, especially Waymo Scenarios.

commented

Some works translate to ego car's 11th step position in Waymo scenarios

commented

The simulator needs to centralize all elements to (0,0) so the terrain can be generated. But No need to do this now. We can normalize them on the simulator side.