Motion metrics - bbox matching threshold ?

[Fixed-Sidet]

Hello,

In nuscenes_e2e_dataset.py, starting at line 1196, the motion metrics are calculated 6 times.
Those calculations are done in nuscenes_eval_motion.py :

• eval_mode="standard":
  bbox matching dist threshold: [0.5,1,2,4]
  dist_th_tp = 2.0
  Traj_dist_th = None

• eval_mode="motion_map"
  bbox matching dist threshold: [1.0]
  dist_th_tp = 1.0
  Traj_dist_th = 2.0

• ...

Which one of those metric results are the ones you report in the paper?

I also noticed that when using eval_mode = 'epa', self.cfg_dist_ths and self.cfg_dist_th_tp are overwritten.
In the fourth metric calculation, which uses the MotionEval class initialized with category_convert_type='detection_category',
those thresholds are not reset: I was wondering if this in intentional.

Thank you.