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HaohaoNJU / CenterPoint

TensorRT deployment for CenterPoint Lidar Detection Model.
MIT License
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w, l, h order is incorrect #33

Open irmuun20 opened 1 year ago

irmuun20 commented 1 year ago

Wouldn't you change ordering of width, length, height in the following: https://github.com/HaohaoNJU/CenterPoint/blob/7728be92e118e633602b8c2d96a5f955d03dec99/src/postprocess.cpp#L284 to:

            box.w = host_boxes[i +  3 * boxSizeAft];    // dx
            box.l = host_boxes[i + 4 * boxSizeAft];     // dy
            box.h = host_boxes[i + 5 * boxSizeAft];     // dz
irmuun20 commented 1 year ago

I used open3d to display boxes and found out the ordering of your model output is incorrect

point = [x, y, z]
extent = [w, l, h]     # extent in x, y and z direction
box3d = o3d.geometry.OrientedBoundingBox(point, rotation_matrix, extent)