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关于generate_occupancy_nuscenes.py中的代码问题 #117

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Terryfic5 opened this issue Sep 1, 2024 · 1 comment

Terryfic5 commented Sep 1, 2024

请问在generate_occupancy_nuscenes.py文件中，得到gt_bbox的yaw角时，为什么要加一个pi/2呢

“gt_bbox_3d[:, 6] += np.pi / 2.”

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Terryfic5 commented Sep 1, 2024 •

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是否是因为nuscenes数据集中，size的顺序为(w, l, h) ，而mmcv定义的points_in_boxes_cpu函数中size的顺序是与坐标顺序相同。如果按照point_in_boxes_cpu函数的要求，调整size的顺序，与上述加pi/2的效果应该相同吧：）

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