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Unverified Commit 0cd000bf authored by Tai-Wang's avatar Tai-Wang Committed by GitHub
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Fix incorrect velo indexing when formating boxes on nuScenes (#1049)

parent 45d98602
...@@ -776,7 +776,7 @@ def nusc_box_to_cam_box3d(boxes): ...@@ -776,7 +776,7 @@ def nusc_box_to_cam_box3d(boxes):
dims = torch.Tensor([b.wlh for b in boxes]).view(-1, 3) dims = torch.Tensor([b.wlh for b in boxes]).view(-1, 3)
rots = torch.Tensor([b.orientation.yaw_pitch_roll[0] rots = torch.Tensor([b.orientation.yaw_pitch_roll[0]
for b in boxes]).view(-1, 1) for b in boxes]).view(-1, 1)
velocity = torch.Tensor([b.velocity[:2] for b in boxes]).view(-1, 2) velocity = torch.Tensor([b.velocity[0::2] for b in boxes]).view(-1, 2)
# convert nusbox to cambox convention # convert nusbox to cambox convention
dims[:, [0, 1, 2]] = dims[:, [1, 2, 0]] dims[:, [0, 1, 2]] = dims[:, [1, 2, 0]]
......
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