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tusen-ai / SST

Code for a series of work in LiDAR perception, including SST (CVPR 22), FSD (NeurIPS 22), FSD++ (TPAMI 23), FSDv2, and CTRL (ICCV 23, oral).
Apache License 2.0
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About the dimensions of the box #135

Closed hutao568 closed 1 year ago

hutao568 commented 1 year ago

I'm not sure whether the size dimension of the box should be l, w, h or w, l, h; when you initialize, you use x_size, y_size, z_size; but when you crop the point cloud, you use w, l , h, ry; I want to know which format should be given when the box is initialized; (here w refers to width, h refers to height)

the code for init https://github.com/tusen-ai/SST/blob/main/mmdet3d/core/bbox/structures/base_box3d.py#L19 the code for crop point cloud https://github.com/tusen-ai/SST/blob/main/mmdet3d/ops/roiaware_pool3d/points_in_boxes.py#L6

Abyssaledge commented 1 year ago

Always follow this format: https://github.com/tusen-ai/SST/blob/main/mmdet3d/core/bbox/structures/lidar_box3d.py#L15C16-L15C16 when you call the box-related torch ops.

Abyssaledge commented 1 year ago

Special reminder: the boxes in waymo_infos_xxx.pkl is not in that format, but they will be converted to the LiDARInstance3DBbox after data pipeline.

Abyssaledge commented 1 year ago

Please reopen this issue if you need further discussion.