Add discretization option for both width & height

Author: Cuong Ngo

src/config/kitti_config.py

@@ -33,7 +33,8 @@
 BEV_WIDTH = 608  # across y axis -25m ~ 25m
 BEV_HEIGHT = 608  # across x axis 0m ~ 50m
 
-DISCRETIZATION = (boundary["maxX"] - boundary["minX"]) / BEV_HEIGHT
+DISCRETIZATION_X = (boundary["maxX"] - boundary["minX"]) / BEV_HEIGHT
+DISCRETIZATION_Y = (boundary["maxY"] - boundary["minY"]) / BEV_WIDTH
 
 colors = [[0, 255, 255], [0, 0, 255], [255, 0, 0]]
 

src/data_process/kitti_dataset.py

@@ -79,7 +79,7 @@ def load_img_only(self, index):
         sample_id = int(self.sample_id_list[index])
         lidarData = self.get_lidar(sample_id)
         b = kitti_bev_utils.removePoints(lidarData, cnf.boundary)
-        rgb_map = kitti_bev_utils.makeBVFeature(b, cnf.DISCRETIZATION, cnf.boundary)
+        rgb_map = kitti_bev_utils.makeBVFeature(b, cnf.DISCRETIZATION_X, cnf.DISCRETIZATION_Y, cnf.boundary)
         img_file = os.path.join(self.image_dir, '{:06d}.png'.format(sample_id))
 
         return img_file, rgb_map
@@ -103,7 +103,7 @@ def load_img_with_targets(self, index):
             lidarData, labels[:, 1:] = self.lidar_transforms(lidarData, labels[:, 1:])
 
         b = kitti_bev_utils.removePoints(lidarData, cnf.boundary)
-        rgb_map = kitti_bev_utils.makeBVFeature(b, cnf.DISCRETIZATION, cnf.boundary)
+        rgb_map = kitti_bev_utils.makeBVFeature(b, cnf.DISCRETIZATION_X, cnf.DISCRETIZATION_Y, cnf.boundary)
         target = kitti_bev_utils.build_yolo_target(labels)
         img_file = os.path.join(self.image_dir, '{:06d}.png'.format(sample_id))