From 4bcef9a98cdb8c462ec0a51d8b363a5f61ce1515 Mon Sep 17 00:00:00 2001 From: "jay.yang" Date: Sun, 17 Nov 2024 22:05:25 +0800 Subject: [PATCH] [FIX] can_bus input of quaternion mistakenly get all 4 number as same w value, due to pyquaternion bug. --- projects/mmdet3d_plugin/datasets/nuscenes_e2e_dataset.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/projects/mmdet3d_plugin/datasets/nuscenes_e2e_dataset.py b/projects/mmdet3d_plugin/datasets/nuscenes_e2e_dataset.py index c1b9392..57e4339 100644 --- a/projects/mmdet3d_plugin/datasets/nuscenes_e2e_dataset.py +++ b/projects/mmdet3d_plugin/datasets/nuscenes_e2e_dataset.py @@ -554,7 +554,7 @@ def get_data_info(self, index): translation = input_dict['ego2global_translation'] can_bus = input_dict['can_bus'] can_bus[:3] = translation - can_bus[3:7] = rotation + can_bus[3:7] = rotation.q patch_angle = quaternion_yaw(rotation) / np.pi * 180 if patch_angle < 0: patch_angle += 360