waymo coordinates about centerformer

[DezeZhao]

@edwardzhou130, hello, can you help me about the question, thank you a lot.
From codes all above, I know that waymo infos' gt boxes coordinates are [xyzwlhr], and r = -pi/2-r for training and validating; but while calculating iou_loss, I see you again translate the pred box ang gt box to pcdet's coords like [xyzlwhr], but this time r should not be -pi/2-r ? I think it should remain unchanged for gt box?

centerformer/det3d/models/bbox_heads/center_head_iou_1d.py

Line 269 in 5a949b8

iou_targets = boxes_iou3d_gpu(

[edwardzhou130]

I actually didn't look into this. I directly use their implementation to calculate the IoU. I think probably it's okay as long as the pred box and gt box are kept in their required format.