some question about angle in custom dataset about crlfnet HOT 10 CLOSED

在cloudlabel软件中加载了kitti中的标签数据，箭头所指的方向都同图像中车的朝向相反
使用官方kitti数据集？这没有意义 您自己的数据集标注完成之后加载若显示朝向正确，就没问题了

恩，谢谢。目前我是想通过官方的数据集查看这个自定义数据集的坐标转换是如何完成的。阅读了你的calibration文件我大致理解的意思是当我们通过labelcloud以kitti的格式对点云数据进行标注后，需要将标签文件转换到OpenPCDet框架(z轴朝上，x轴朝前，y轴朝左)的统一坐标系中。如果点云数据的坐标系也不一致时同样需要进行转换。

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After reading the code in labelcloud, I found that can label a object in (0,2pi) and it will export a txt file in (-pi/2,3pi/2)

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You first should notice your raw dataset's coordinates, and how it be transformed to kitti-format. Refer to this on my side, you must know these transformation: your raw dataset coordinates -> kitti-format coordinates -> OpenPCDet coordinates, and then conduct your own code, my code is on my side and it may not work on your side, that's why I jot down the methods in the link above. BTW, the data's transformation and label's transformation should not be the same.

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The range or the representation of angle will not influence the model. Just know how to process your results correctly. And both LabelCloud and OpenPCDet have the range of [-pi, pi].

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And goes back to the angle, once you get the angles in label files, then is should be (np.pi / 2 - rots[..., np.newaxis]) coz the labels are in kitti-format, the transformation should also be aligned with the official transformation in OpenPCDet. Then I guess you should keep (np.pi / 2 - rots[..., np.newaxis]) and your calculation was wrong.

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我想问一下在使用labelcloud标注点云时box中的箭头好像无法指代物体的方向，并且我阅读了labelcloud存储kitt标签的源码好像他输出存储标签txt中的航向角的值域是(-pi/2,3pi/2)，我在软件中标记了一个rotation为200度的长方形标签文件中输出的是4.36.

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箭头就是表示朝向的。你的rotation为200°是相对于什么坐标系而言？标签文件中的航向角是kitti坐标系，仅凭您的描述无法判断。但理论上您无需关注角度范围或者正确与否。

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我在cloudlabel软件中加载了kitti中的标签数据，箭头所指的方向都同图像中车的朝向相反。200度是以朝右为x正轴，朝下为y正轴，抄前为z正轴（应该是以相机坐标系而言的）。

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在cloudlabel软件中加载了kitti中的标签数据，箭头所指的方向都同图像中车的朝向相反

使用官方kitti数据集？这没有意义
您自己的数据集标注完成之后加载若显示朝向正确，就没问题了

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