A bug in orientation correction about ab3dmot

[xinshuoweng]

Thanks for your feedback.

However, I did not see anywhere a redundant indentation exists and I can run the code on my side without any modification. Could you please point out where it is exactly, e.g., copy the line of code here and highlight the redundant indentation?

Thanks!

[gongshichina]

Thanks for your kind reply.

Here we didn't consider the case abs(new_theta - predicted_theta) >= 3*np.pi /2 , which is parallel to the the brunch of line 236, so I mistaked it as a redundant indentation.

But I don't understand we don't need to consider the case abs(new_theta - predicted_theta) >= 3*np.pi /2, that is:

if abs(new_theta - predicted_theta) > np.pi / 2.0 and abs(new_theta - predicted_theta) < np.pi * 3 / 2.0:     # if the angle of two theta is not acute angle
  self.kf.x[3] += np.pi       
  if self.kf.x[3] > np.pi: self.kf.x[3] -= np.pi * 2    # make the theta still in the range
  if self.kf.x[3] < -np.pi: self.kf.x[3] += np.pi * 2
  
  # now the angle is acute: < 90 or > 270, convert the case of > 270 to < 90
  if abs(new_theta - self.kf.x[3]) >= np.pi * 3 / 2.0:
    if new_theta > 0: self.kf.x[3] += np.pi * 2
    else: self.kf.x[3] -= np.pi * 2
else:  # abs(new_theta - predicted_theta) >= 3*np.pi /2
    if new_theta > 0: self.kf.x[3] += np.pi * 2
    else: self.kf.x[3] -= np.pi * 2

[xinshuoweng]

Nice catch! I have removed the indentation as you suggested.

Please let me know if you have any further suggestion. :)

[abhigoku10]

@xinshuoweng can you please explain this section of the code

if self.kf.x[3] >= np.pi: self.kf.x[3] -= np.pi * 2 # make the theta still in the range
if self.kf.x[3] < -np.pi: self.kf.x[3] += np.pi * 2

new_theta = bbox3D[3]
if new_theta >= np.pi: new_theta -= np.pi * 2    # make the theta still in the range
if new_theta < -np.pi: new_theta += np.pi * 2
bbox3D[3] = new_theta

predicted_theta = self.kf.x[3]
if abs(new_theta - predicted_theta) > np.pi / 2.0 and abs(new_theta - predicted_theta) < np.pi * 3 / 2.0:     # if the angle of two theta is not acute angle
  self.kf.x[3] += np.pi       
  if self.kf.x[3] > np.pi: self.kf.x[3] -= np.pi * 2    # make the theta still in the range
  if self.kf.x[3] < -np.pi: self.kf.x[3] += np.pi * 2
  
# now the angle is acute: < 90 or > 270, convert the case of > 270 to < 90
if abs(new_theta - self.kf.x[3]) >= np.pi * 3 / 2.0:
  if new_theta > 0: self.kf.x[3] += np.pi * 2
  else: self.kf.x[3] -= np.pi * 2

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