[Fix]: CenterFormer, exchange width and length according to coordinates(xyz)...

[Fix]: CenterFormer, exchange width and length according to coordinates(xyz) and dimensions(lwh) correspondence (#2360) (#2362)

projects/CenterFormer/centerformer/centerformer_backbone.py

@@ -659,16 +659,17 @@ class DeformableDecoderRPN(BaseDecoderRPN):
             for k in range(num_objs):
                 cls_id = task_classes[idx][k] - 1
 
-                width = task_boxes[idx][k][3]
-                length = task_boxes[idx][k][4]
-                width = width / voxel_size[0] / self.train_cfg[
+                # gt boxes [xyzlwhr]
+                length = task_boxes[idx][k][3]
+                width = task_boxes[idx][k][4]
+                length = length / voxel_size[0] / self.train_cfg[
                     'out_size_factor']
-                length = length / voxel_size[1] / self.train_cfg[
+                width = width / voxel_size[1] / self.train_cfg[
                     'out_size_factor']
 
                 if width > 0 and length > 0:
                     radius = gaussian_radius(
-                        (length, width),
+                        (width, length),
                         min_overlap=self.train_cfg['gaussian_overlap'])
                     radius = max(self.train_cfg['min_radius'], int(radius))
 
@@ -702,7 +703,7 @@ class DeformableDecoderRPN(BaseDecoderRPN):
                     rot = task_boxes[idx][k][6]
                     corner_keypoints = center_to_corner_box2d(
                         center.unsqueeze(0).cpu().numpy(),
-                        torch.tensor([[width, length]],
+                        torch.tensor([[length, width]],
                                      dtype=torch.float32).numpy(),
                         angles=rot,
                         origin=0.5)