Datasets:
Regarding the rotation of the 3d bbox
Hello! I managed to plot the ground truth on the camera video and noticed several things:
- the provided yaw seems only correct on Person
for other types like Carter or Transporter, the yaw is correct but the object can move toward completely different direction
as for the humanoids, the yaw is wrong and sometimes flipping - the width, length and height are orthogonal to the world coordinate system
this means it shoudn't be rotated by the yaw
I Think......
Actually, the yaw doesn't necessarily indicate the direction of motion or its actual movement direction. yaw just say the geometric orientation of the object for representing rotated 3d bbox
In shorts, (yaw=-30d) == (yaw=+330d) -> same heading
yaw: Euler angle in radians about the y-axis of the object-centered coordinate system defining the box’s heading in the world coordinate system. (Pitch and roll are assumed zero.)
maybe?
I Think......
Actually, theyawdoesn't necessarily indicate the direction of motion or its actual movement direction.yawjust say the geometric orientation of the object for representingrotated 3d bbox
In shorts,(yaw=-30d) == (yaw=+330d)-> same headingyaw: Euler angle in radians about the y-axis of the object-centered coordinate system defining the box’s heading in the world coordinate system. (Pitch and roll are assumed zero.)maybe?
yeah, that's my first thought when I read the official guide: the yaw is "orienting" (azimuth) the bounding box in world coordinate system.
However I found that it makes more sense when the bounding box is orthogonal to the coordinate system, meaning the width, length and height are the sizes of the bounding box in X, Y and Z axis in world coordinate system (not oriented).
If I rotate the bounding box with yaw:
the person if moving toward the direction, but the bounding box is expanding in another direction
and also different type of object has completely different behavior regarding the yaw...
The only way I managed to make sense on every type of object is to NOT rotate at all, and add 90 degrees on yaw only on Person...
...