Hello, I might find a potential issue in function d3_box_overlap_kernel in /utils/kitti_eval/eval.py line 138:
The default setting of z_center=1.0, which means the z_center should be the bottom(or top). But with my understanding, the annotation of K-radar dataset z vaule is of 3D center rather than bottom center. in that case, the calculation of iw = min_z - max_z can be incorrect.
Because the bbox and qbox actually have different offset in z-axis. (gt_height/2 and pred_height/2). Consequently, it will affect the final AP_3D performance. (AP_BEV remains the same).
Please tell me if I understand correctly or not. Looking forward to your reply. Thanks!
Hello, I might find a potential issue in function
d3_box_overlap_kernelin /utils/kitti_eval/eval.py line 138: The default setting ofz_center=1.0, which means thez_centershould be the bottom(or top). But with my understanding, the annotation of K-radar dataset z vaule is of 3D center rather than bottom center. in that case, the calculation ofiw = min_z - max_zcan be incorrect. Because the bbox and qbox actually have different offset in z-axis. (gt_height/2 and pred_height/2). Consequently, it will affect the final AP_3D performance. (AP_BEV remains the same).Please tell me if I understand correctly or not. Looking forward to your reply. Thanks!