feat(autoware_lidar _ransfusion): fix 3d bounding box orientation (#9052

) * fix bbox orientation Signed-off-by: Samrat Thapa <[email protected]> * revert newline changes Signed-off-by: Samrat Thapa <[email protected]> * change kernel Signed-off-by: Samrat Thapa <[email protected]> --------- Signed-off-by: Samrat Thapa <[email protected]> Co-authored-by: Amadeusz Szymko <[email protected]>
autowarefoundation · Oct 8, 2024 · 43d7bbf · 43d7bbf
1 parent 88e2ae1
commit 43d7bbf
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diff --git a/perception/autoware_lidar_transfusion/lib/postprocess/postprocess_kernel.cu b/perception/autoware_lidar_transfusion/lib/postprocess/postprocess_kernel.cu
@@ -83,8 +83,8 @@ __global__ void generateBoxes3D_kernel(
   det_boxes3d[point_idx].y =
     box_output[point_idx + num_proposals] * num_point_values * voxel_size_y + min_y_range;
   det_boxes3d[point_idx].z = box_output[point_idx + 2 * num_proposals];
-  det_boxes3d[point_idx].width = expf(box_output[point_idx + 3 * num_proposals]);
-  det_boxes3d[point_idx].length = expf(box_output[point_idx + 4 * num_proposals]);
+  det_boxes3d[point_idx].length = expf(box_output[point_idx + 3 * num_proposals]);
+  det_boxes3d[point_idx].width = expf(box_output[point_idx + 4 * num_proposals]);
   det_boxes3d[point_idx].height = expf(box_output[point_idx + 5 * num_proposals]);
   det_boxes3d[point_idx].yaw =
     atan2f(dir_cls_output[point_idx], dir_cls_output[point_idx + num_proposals]);

diff --git a/perception/autoware_lidar_transfusion/lib/ros_utils.cpp b/perception/autoware_lidar_transfusion/lib/ros_utils.cpp
@@ -48,12 +48,10 @@ void box3DToDetectedObject(
   obj.classification.emplace_back(classification);
 
   // pose and shape
-  // mmdet3d yaw format to ros yaw format
-  float yaw = box3d.yaw + autoware::universe_utils::pi / 2;
   obj.kinematics.pose_with_covariance.pose.position =
     autoware::universe_utils::createPoint(box3d.x, box3d.y, box3d.z);
   obj.kinematics.pose_with_covariance.pose.orientation =
-    autoware::universe_utils::createQuaternionFromYaw(yaw);
+    autoware::universe_utils::createQuaternionFromYaw(box3d.yaw);
   obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
   obj.shape.dimensions =
     autoware::universe_utils::createTranslation(box3d.length, box3d.width, box3d.height);