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charlesq34 / frustum-pointnets

Frustum PointNets for 3D Object Detection from RGB-D Data
Apache License 2.0
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Heading angle calculation in Provider.py #120

Open suryadheeshjith opened 3 years ago

suryadheeshjith commented 3 years ago

I am slightly confused as to how the heading angle is calculated here. 

# Heading
if self.rotate_to_center:
     heading_angle = self.heading_list[index] - rot_angle
else:
     heading_angle = self.heading_list[index]

self.heading_list[index] is the angle that must be rotated across the y-axis in the Clockwise direction. We could call this a correction angle to get the box to 0 heading angle. So I believe it should be,

# Heading
if self.rotate_to_center:
     heading_angle = -self.heading_list[index] - rot_angle
else:
     heading_angle = -self.heading_list[index]

Anyone please, I would like an explanation as to why my logic is wrong.