change np.pi

mmdet3d/datasets/pipelines/indoor_augment.py

@@ -133,7 +133,7 @@ class IndoorGlobalRotScale(object):
 
     def __init__(self, use_height=True, rot_range=None, scale_range=None):
         self.use_height = use_height
-        self.rot_range = rot_range
+        self.rot_range = np.pi * np.array(rot_range)
         self.scale_range = scale_range
 
     def _rotz(self, t):

tests/test_pipeline/test_indoor_augment.py

@@ -64,7 +64,7 @@ def test_indoor_flip_data():
 def test_global_rot_scale():
     np.random.seed(0)
     sunrgbd_augment = IndoorGlobalRotScale(
-        True, rot_range=[-np.pi / 6, np.pi / 6], scale_range=[0.85, 1.15])
+        True, rot_range=[-1 / 6, 1 / 6], scale_range=[0.85, 1.15])
     sunrgbd_results = dict()
     sunrgbd_results['points'] = np.array(
         [[1.02828765e+00, 3.65790772e+00, 1.97294697e-01, 1.61959505e+00],
@@ -101,7 +101,7 @@ def test_global_rot_scale():
 
     np.random.seed(0)
     scannet_augment = IndoorGlobalRotScale(
-        True, rot_range=[-np.pi * 1 / 36, np.pi * 1 / 36], scale_range=None)
+        True, rot_range=[-1 * 1 / 36, 1 / 36], scale_range=None)
     scannet_results = dict()
     scannet_results['points'] = np.array(
         [[1.6110241e+00, -1.6903955e-01, 5.8115810e-01, 5.9897250e-01],

tests/test_pipeline/test_indoor_pipeline.py

@@ -25,7 +25,7 @@ def test_scannet_pipeline():
         dict(
             type='IndoorGlobalRotScale',
             use_height=True,
-            rot_range=[-np.pi * 1 / 36, np.pi * 1 / 36],
+            rot_range=[-1 / 36, 1 / 36],
             scale_range=None),
         dict(type='DefaultFormatBundle3D', class_names=class_names),
         dict(
@@ -108,7 +108,7 @@ def test_sunrgbd_pipeline():
         dict(
             type='IndoorGlobalRotScale',
             use_height=True,
-            rot_range=[-np.pi / 6, np.pi / 6],
+            rot_range=[-1 / 6, 1 / 6],
             scale_range=[0.85, 1.15]),
         dict(type='IndoorPointSample', num_points=5),
         dict(type='DefaultFormatBundle3D', class_names=class_names),