To the committee, some questions about the gt of BEVmap:
1. s the scale of the 200x200 pred map 0.5 meters/pixel?
2. Which direction is the front of BevMap's ego facing, is it to the right?
3. When drawing the gt of the divider, use the mask_for_lines function in nuScenes-devkit? The thickness of cv2.polylines is 2?
The answer to all your 3 questions are yes.
Basically you can refer to the gt bevmap calculation method in bevfusion, we follow the coding in function LoadBEVSegmentation in loading.py