[Fix]: CenterFormer, exchange width and length according to coordinat…

…es(xyz) and dimensions(lwh) correspondence (#2360) (#2362)

projects/CenterFormer/centerformer/centerformer_backbone.py

@@ -659,16 +659,17 @@ def get_targets_single(self,
  for k in range(num_objs):
  cls_id = task_classes[idx][k] - 1
 
- width = task_boxes[idx][k][3]
- length = task_boxes[idx][k][4]
- width = width / voxel_size[0] / self.train_cfg[
+ # gt boxes [xyzlwhr]
+ length = task_boxes[idx][k][3]
+ width = task_boxes[idx][k][4]
+ length = length / voxel_size[0] / self.train_cfg[
  'out_size_factor']
- length = length / voxel_size[1] / self.train_cfg[
+ width = width / voxel_size[1] / self.train_cfg[
  'out_size_factor']
 
  if width > 0 and length > 0:
  radius = gaussian_radius(
- (length, width),
+ (width, length),
  min_overlap=self.train_cfg['gaussian_overlap'])
  radius = max(self.train_cfg['min_radius'], int(radius))
 
@@ -702,7 +703,7 @@ def get_targets_single(self,
  rot = task_boxes[idx][k][6]
  corner_keypoints = center_to_corner_box2d(
  center.unsqueeze(0).cpu().numpy(),
- torch.tensor([[width, length]],
+ torch.tensor([[length, width]],
  dtype=torch.float32).numpy(),
  angles=rot,
  origin=0.5)