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Merge pull request #629 from sirykd/bug-get-alpha 

Fix 3D box orientation post-processing
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Xingyi Zhou 2020-03-05 19:05:03 -06:00 committed by GitHub
parent 8ef87b4335 46a4ef279c
commit 1085662179
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1 changed files with 2 additions and 2 deletions
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src/lib/utils/post_process.py
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@ -15,8 +15,8 @@ def get_alpha(rot):
# bin2_cls[0], bin2_cls[1], bin2_sin, bin2_cos] # bin2_cls[0], bin2_cls[1], bin2_sin, bin2_cos]
# return rot[:, 0] # return rot[:, 0]
idx = rot[:, 1] > rot[:, 5] idx = rot[:, 1] > rot[:, 5]
alpha1 = np.arctan(rot[:, 2] / rot[:, 3]) + (-0.5 * np.pi) alpha1 = np.arctan2(rot[:, 2], rot[:, 3]) + (-0.5 * np.pi)
alpha2 = np.arctan(rot[:, 6] / rot[:, 7]) + ( 0.5 * np.pi) alpha2 = np.arctan2(rot[:, 6], rot[:, 7]) + ( 0.5 * np.pi)
return alpha1 * idx + alpha2 * (1 - idx) return alpha1 * idx + alpha2 * (1 - idx)