Closed Na-Z closed 3 years ago
Hi Na-Z,
meta_vertices[:, 6] = -1 * meta_vertices[:, 6] This line is actually flipping the angle. And this line: (meta_vertices[:, 6] += rot_angle ) is applying a global rotation so it would not affect individual objects' front orientation prediction.
Hi zaiwei,
When performing data augmentation on ScanNet, you also flipped the height. https://github.com/zaiweizhang/H3DNet/blob/e89d092bdf4c2ab1df576e6c4ff12bcbc2d55b2e/scannet/scannet_detection_dataset_hd.py#L188 https://github.com/zaiweizhang/H3DNet/blob/e89d092bdf4c2ab1df576e6c4ff12bcbc2d55b2e/scannet/scannet_detection_dataset_hd.py#L195 May I know the reason? As far as I know, the height should not be flipped.
Additionally, you set the heading angle as the
rot_angle
(since original heading angle is 0 in ScanNet) https://github.com/zaiweizhang/H3DNet/blob/e89d092bdf4c2ab1df576e6c4ff12bcbc2d55b2e/scannet/scannet_detection_dataset_hd.py#L202 However, therotate_aligned_boxes
function returns params of axis-aligned bboxes. I don't understand why you set heading angle torot_angle
instead of 0 here. Could you explain?Thank you.