Skip to content
This repository has been archived by the owner on Jan 25, 2024. It is now read-only.

How were graph["left_pairs"] and graph["left_pairs"] defined in the lane graph? Is there a bug of these keys? #18

Open
LaLaLailalai opened this issue Jul 20, 2021 · 1 comment

Comments

@LaLaLailalai
Copy link

I printed the value of graph["left_pairs"] and graph["right_pairs"] and found that in graph["left_pairs"] there are some duplicate node pairs, for example "[37,64]" and "[64,37]", but it is hard to understand why node "37" and "64" can be left neighbor of each other. But there are no repeated pairs in the graph["right_pairs"]. So why?
If graph["left_pairs"] and the reverse of graph["right_pairs"] should be equal? For instance, graph["left_pairs"]:[[1,2],[3,4]],
graph["right_pairs"]:[[2,1],[4,3]].

The printed value of graph["left_pairs"] and graph["right_pairs"] are as follows:
len graph[left_pairs] 67 len graph[right_pairs] 27 graph[left_pairs] tensor([[15, 91], [19, 86], [24, 97], [29, 30], [30, 29], [31, 43], [32, 68], [33, 60], [34, 39], [35, 51], [36, 66], [37, 64], [38, 69], [39, 34], [40, 67], [41, 95], [42, 51], [43, 31], [44, 29], [45, 78], [46, 63], [47, 69], [48, 58], [49, 67], [50, 58], [51, 35], [52, 15], [53, 47], [54, 37], [55, 56], [56, 55], [57, 96], [58, 48], [59, 75], [61, 48], [62, 82], [63, 72], [64, 37], [65, 49], [66, 98], [67, 49], [68, 32], [69, 47], [70, 64], [71, 30], [72, 63], [73, 74], [74, 82], [75, 59], [76, 77], [77, 76], [79, 85], [81, 80], [82, 74], [83, 85], [84, 91], [85, 83], [88, 83], [89, 35], [90, 72], [91, 15], [93, 92], [94, 98], [95, 41], [96, 57], [97, 24], [98, 66]], device='cuda:0') graph[right_pairs] tensor([[15, 52], [29, 44], [30, 71], [35, 89], [37, 54], [47, 53], [48, 61], [49, 65], [51, 42], [58, 50], [60, 33], [63, 46], [64, 70], [66, 36], [67, 40], [69, 38], [72, 90], [74, 73], [78, 45], [80, 81], [82, 62], [83, 88], [85, 79], [86, 19], [91, 84], [92, 93], [98, 94]], device='cuda:0')

@LaLaLailalai LaLaLailalai changed the title How are graph["left_pairs"] and graph["left_pairs"] defined in the article? Is there a bug of these keys? How were graph["left_pairs"] and graph["left_pairs"] defined in the lane graph? Is there a bug of these keys? Jul 20, 2021
@ClimbingMachine
Copy link

I think Argoverse-API considers two inner lanes in the opposite direction (two-way traffic) as l_neighbor_ids in this case.

Sign up for free to subscribe to this conversation on GitHub. Already have an account? Sign in.
Labels
None yet
Projects
None yet
Development

No branches or pull requests

2 participants