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Coperception - support cooperative perception based on OpenCOOD #187
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…he ap each frame, tested with intermediate and early dataset
A quick question: did you change any code in opencood? |
# create CAV world | ||
cav_world = CavWorld(apply_ml=opt.apply_ml, | ||
apply_coperception=True, | ||
fusion_method='early') |
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make it intermediate
to run with intermediate fusion
…ception prediction on nearby cav (smallest id as the ego id), make plot gt, enable_communicate configurable
The parameters relate to cooperative perception is listed with parameters within the yaml file as follows:
and whether or not to enable communication across cav, and plotting ground truth is by the config
under the
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Is this ready to merge? |
…ount only even frames
Scenario
v2xp_online_carla.py
Run with command
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