lyft / lyft/nuscenes-devkit

MapMask is broken

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#72 1 comment 1 reaction 1 assignee View on GitHub

@ternaus is already working on this.

Since Nov 13, 2019.

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Description

I'd like to report the following problems with MapMask:
1. It uses `foreground=255`, but if you look to the map, you'll notice that white color means background.
2. Function `is_on_mask` is broken because it ignores 3 channels of RGB picture. (Python complains about indexing). The fix would be to check if all channels are white or non-white, like:
`mask = np.all(this_mask[py[on_mask], px[on_mask]], axis=-1)`

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