fix(pai-converter): center ego-vehicle bbox z-gate at height/2#163
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Willyzw wants to merge 1 commit into
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fix(pai-converter): center ego-vehicle bbox z-gate at height/2#163Willyzw wants to merge 1 commit into
Willyzw wants to merge 1 commit into
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filter_ego_vehicle_points only offset the box center in x (rear_axle_to_bbox_center); y and z stayed centered at 0. Since the rig z origin is at ground level, the z-gate spanned [-(h/2+pad), h/2+pad] instead of [ground-pad, roof+pad], leaving the upper body / roof (z > height/2 + padding) outside the box. Ego self-returns near the roof-mounted lidar were therefore not filtered and showed up as noise within ~1.5 m of the sensor at roof height. Center the z-gate at height/2 so the box spans ground..roof. Verified on a PAI clip: near-sensor ego roof returns drop to ~0.
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Verified fix locally, thanks for spotting and correcting @Willyzw ! Merging once CI is happy |
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/ok to test be0876b |
janickm
enabled auto-merge
July 21, 2026 07:30
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Description
Fixes a bug in the PAI converter's ego-vehicle bbox filter that leaves Lidar self-return points near the ego roof unfiltered.
Root cause. In
tools/data_converter/pai/utils.py, the functionfilter_ego_vehicle_pointsonly offsets the box center in x (rear_axle_to_bbox_center), while y and z stay centered at 0. According to the PAI coordinate-system docs, the rig z origin is at ground level, so the z-gate spans[-(h/2+pad), h/2+pad]instead of[ground-pad, roof+pad]. Thus the self-return points at upper roof part fall outside the box and are not filtered.Fix. Center the z-gate at
height/2so the box spans from ground to roof:Verification. Confirmed on a PAI clip as shown below, red = box before this fix, green = after (rear y-z views); the red box top cuts through the middle of ego vehicle while the green box encloses the vehicle entirely.
Type of Change