Inconsistent units of bounding box yaws

Question

Inconsistent units of bounding box yaws

Opened this issue 4 years ago · 3 comments

RM-Costa commented 4 years ago

In config.py, the yaws are written in radians, but in point_pillars_test.py they're in degrees.

Is this a bug or am I missing something ?

Answer 1 · 2020-08-14T04:04:38.000Z

This is the updated version of this repo: https://github.com/tyagi-iiitv/PointPillars.

Answer 2 · 2020-08-14T09:02:45.000Z

This is the updated version of this repo: https://github.com/tyagi-iiitv/PointPillars.

Thanks for the answer, but I still see the same issue in your fork.
In config.py the anchor boxes orientation is in radians, but in point_pillars_test.py the yaws are in degrees.
These values are used in the IoU computation, which uses std::cos and std::sin operations, so the units should be all in radians for the code to work properly.

Answer 3 · 2020-08-17T04:53:57.000Z

I've added this as an issue on my repo, I'll verify and work on it. In the meantime, if you want to submit a PR to my repo, go ahead with that. Anyway, I'll let you know when this is fixed.