Error when counting points in point cloud

[dgriffiths3]

In the examples/groundtruth_extraction.py example script there is a small bug. The matrix you get at Line 71 does not take into account the height, width, length should be divided by 2 as it is from the center of the object. The resulting boxes are 2x the size they should be and therefore the mask obtained includes points that are not part of the object.

Changing:
sl, sh, sw = box.length, box.height, box.width to
sl, sh, sw = box.length/2., box.height/2., box.width/2.

in the utils. get_box_transformation_matrix fixes the problem in this instance but maybe that breaks the function for other uses?

[gdlg]

Thanks for reporting the issue. I am not currently actively using the dataset, so I am not able to test the proposed fix; however, your observation sounds correct. Feel free to create a PR and I can merge it.

[xiongyiheng]

Hello, will simply changing the codes as @dgriffiths3 does make the whole thing correct? I am using pytorch and I am struggling when loading waymo dataset. So this is actually the original issue. So if possible, could u plz share some ideas with me?

[dgriffiths3]

Hi, it worked in my case, but I was only using it for the task of counting the points. I was planning to do a PR but haven't found time to check it won't break other functions.

[xiongyiheng]

Thanks for your reply. @dgriffiths3