8000 why set direction offset to pi/4? · Issue #88 · Sense-GVT/Fast-BEV · GitHub
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why set direction offset to pi/4? #88
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@wendalegood

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@wendalegood

Hello, is anybody know why set direction offset to pi/4, and subtract it, what dose this mean, as follows:

first subtract self.dir_offset and then add it back again, what's the purpose of this trick, thanks.

dir_rot = limit_period(bboxes[..., 6] - self.dir_offset,
self.dir_limit_offset, np.pi)
bboxes[..., 6] = (
dir_rot + self.dir_offset +
np.pi * dir_scores.to(bboxes.dtype))

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