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TuSimple / centerformer

Implementation for CenterFormer: Center-based Transformer for 3D Object Detection (ECCV 2022)
MIT License
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waymo coordinates #29

Closed DezeZhao closed 1 year ago

DezeZhao commented 1 year ago

https://github.com/TuSimple/centerformer/blob/5a949b88ed7bb15aafb39bf78c95f1452063ebea/det3d/datasets/waymo/waymo_common.py#L269 https://github.com/TuSimple/centerformer/blob/5a949b88ed7bb15aafb39bf78c95f1452063ebea/det3d/datasets/waymo/waymo_common.py#L270

DezeZhao commented 1 year ago

@edwardzhou130, hello, can you help me about the question, thank you a lot. From codes all above, I know that waymo infos' gt boxes coordinates are[xyzwlhr], and r = -pi/2-r for training and validating; but while calculating iou_loss, I see you again translate the pred box ang gt box to pcdet's coords like [xyzlwhr], but this time r should not be -pi/2-r ? I think it should remain unchanged for gt box? https://github.com/TuSimple/centerformer/blob/5a949b88ed7bb15aafb39bf78c95f1452063ebea/det3d/models/bbox_heads/center_head_iou_1d.py#L269

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edwardzhou130 commented 1 year ago

I actually didn't look into this. I directly use their implementation to calculate the IoU. I think probably it's okay as long as the pred box and gt box are kept in their required format.