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nutonomy / nuscenes-devkit

The devkit of the nuScenes dataset.
https://www.nuScenes.org
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potential bug in algo.py while using dist_fcn parameter #1027

Closed tonmoy-saikia closed 4 months ago

tonmoy-saikia commented 5 months ago

Hi, I noticed that the accumulate function uses dist_fcn to parameterize the matching cost. But the stored matching errors use center_distance (https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/nuscenes/eval/detection/algo.py#L101C44-L101C59). Shouldn't this be dist_fcn?

whyekit-motional commented 5 months ago

@tonmoy-saikia I think using center_distance(...) to calculate match_data['trans_err'] is correct, since trans_err is meant to store the difference in the center of the matched predicted box from that of the GT box

On the other hand, dist_fcn is used to determine whether the predicted box matches any GT boxes in the first place