argoverse数据集和API

forcasting包含tracking的结果，然后结合argo-api去获取hdmap数据

重要的api 数据结构

lane segment

argoverse-api/argoverse/map_representation/lane_segment.py at master · argoverse/argoverse-api · GitHub

练习

1. get started with the Argoverse maps:

argoverse-api/demo_usage/argoverse_map_tutorial.ipynb at master · argoverse/argoverse-api · GitHub

2. load argoverse forecasting data

argoverse-api/argoverse/data_loading/argoverse_forecasting_loader.py at master · argoverse/argoverse-api · GitHub

3. a simple tutorial that will show you how to interact with the Argoverse-forecasting dataset using argo python package

argoverse-api/demo_usage/argoverse_forecasting_tutorial.ipynb at master · argoverse/argoverse-api · GitHub

4. participate in Argo motion forecasting challenge

argoverse-api/demo_usage/competition_forecasting_tutorial.ipynb at master · argoverse/argoverse-api · GitHub

组织数据

此处用了pytorch_lighning 高级torch库，专门为了训练用。

启动脚本的参数，

DataModule和Dataset

获取agent_feature

agent和周围环境的关系

模型推理

评测

网络细节

todo