{ "id": 115187, "title": "Rotation ordering confusion", "url": "/competitions/pku-autonomous-driving/discussion/115187", "author_name": "GreatGameDota", "post_date": "2019-10-31T22:39:00.368000", "votes": 22, "comment_count": 20, "views": 0, "content": "

People have been saying that the training set yaw and pitch were flip flopped, which is correct, but I see that it is also the same way in the documentation for this comp:
\n\"\"\n\"\"\nThe question is which is the correct order we should be finalizing our predictions in?
\nEDIT: Seems yaw, pitch, roll order gives the better score

", "messages": [ { "id": 662716, "postDate": "2019-10-31T22:39:00.370Z", "content": "

People have been saying that the training set yaw and pitch were flip flopped, which is correct, but I see that it is also the same way in the documentation for this comp:
\n\"\"\n\"\"\nThe question is which is the correct order we should be finalizing our predictions in?
\nEDIT: Seems yaw, pitch, roll order gives the better score

", "rawMarkdown": "People have been saying that the training set yaw and pitch were flip flopped, which is correct, but I see that it is also the same way in the documentation for this comp: \n![](https://www.googleapis.com/download/storage/v1/b/kaggle-user-content/o/inbox%2F3543139%2F14d3fd2206631383af19ec668b74476f%2FAnnotation%202019-10-31%20173305.png?generation=1572561395790197&alt=media)\n![](https://www.googleapis.com/download/storage/v1/b/kaggle-user-content/o/inbox%2F3543139%2Ff27026de2c379c5b2b65dea4de657ce6%2FAnnotation%202019-10-31%20173235.png?generation=1572561373877234&alt=media)\nThe question is which is the correct order we should be finalizing our predictions in? \nEDIT: Seems yaw, pitch, roll order gives the better score", "votes": 22 }, { "id": 663192, "postDate": "2019-11-01T15:27:31.503Z", "content": "

It would be great if the organizer can clarify the sequence of submission. The order is important. Even though the public LB score is lower for \"pitch, yaw, roll\" as I tried, it can be a different story on private LB.

", "rawMarkdown": "It would be great if the organizer can clarify the sequence of submission. The order is important. Even though the public LB score is lower for \"pitch, yaw, roll\" as I tried, it can be a different story on private LB. ", "votes": 5 }, { "id": 678744, "postDate": "2019-11-21T19:54:07.513Z", "content": "

@greatgamedota Are you sure about EDIT: Seems yaw, pitch, roll order gives the better score?\nmy preds look like \n\n0.14221191 -0.012171654 -3.092215212\n0.13647461 0.010838471 -3.08699670\n0.14135742 -3.1115612637 -3.11189905\n0.12890625 0.2097167531 -3.08952966\n\nwhich should be pitch, yaw, roll

", "rawMarkdown": "@greatgamedota Are you sure about `EDIT: Seems yaw, pitch, roll order gives the better score`?\nmy preds look like \n```\n0.14221191 -0.012171654 -3.092215212\n0.13647461 0.010838471 -3.08699670\n0.14135742 -3.1115612637 -3.11189905\n0.12890625 0.2097167531 -3.08952966\n```\nwhich should be pitch, yaw, roll", "votes": 3, "replies": [ { "id": 678746, "postDate": "2019-11-21T19:58:17.083Z", "content": "

That order is what I predict too, just the naming is confusing because the competition organizers messed them up...

", "rawMarkdown": "That order is what I predict too, just the naming is confusing because the competition organizers messed them up...", "votes": 3 }, { "id": 678763, "postDate": "2019-11-21T20:53:48.540Z", "content": "

Good, thanks for clarification

", "rawMarkdown": "Good, thanks for clarification" } ] }, { "id": 678526, "postDate": "2019-11-21T13:49:18.273Z", "content": "

I was just reading this here the Sensor Coordinate System and Vehicle Coordinate system . I understand from the image is that z is the distance from camera . \n\"\"

\n\n

\"\"

", "rawMarkdown": "I was just reading this here the Sensor Coordinate System and Vehicle Coordinate system . I understand from the image is that z is the distance from camera . \n![](https://www.googleapis.com/download/storage/v1/b/kaggle-user-content/o/inbox%2F2234817%2Ffb4e9654bd6758e684bbc0388397f205%2FSensor_Coordinate_System.PNG?generation=1574344125099819&alt=media)\n\n![](https://www.googleapis.com/download/storage/v1/b/kaggle-user-content/o/inbox%2F2234817%2F7102a710aed63b49141b31652c93e20d%2FVehicle_Coordinate_System.PNG?generation=1574344153742687&alt=media)\n", "votes": 3, "replies": [ { "id": 685787, "postDate": "2019-12-02T09:28:19.023Z", "content": "

Thanks for sharing. This is so helpful!

", "rawMarkdown": "Thanks for sharing. This is so helpful! " } ] }, { "id": 663579, "postDate": "2019-11-02T11:01:02.163Z", "content": "

Looks like x, y, z are messed up a bit.
\nThis is the distribution of cars in 3d space:\n\"\"\nI thought that y is the distance from camera and z is height from the ground. But from this distribution it looks like coordinate system is tilted.
\nConsidering this, yaw, pitch, roll are correct, just you look from a different angle.

", "rawMarkdown": "Looks like `x, y, z` are messed up a bit. \nThis is the distribution of cars in 3d space:\n![](https://www.googleapis.com/download/storage/v1/b/kaggle-user-content/o/inbox%2F1634816%2Feda35e64e0f2f4373903f3a0233bdae1%2FScreenshot%20from%202019-11-02%2013-52-50.png?generation=1572692001397864&alt=media)\nI thought that `y` is the distance from camera and `z` is height from the ground. But from this distribution it looks like coordinate system is tilted. \nConsidering this, `yaw, pitch, roll` are correct, just you look from a different angle. ", "votes": 3, "replies": [ { "id": 663638, "postDate": "2019-11-02T12:57:45.160Z", "content": "

I've been calculating x, y, z based on the training set and it seemed to me that z was the distance from the camera. It even seems like that when converting from 2d to 3d.

", "rawMarkdown": "I've been calculating x, y, z based on the training set and it seemed to me that z was the distance from the camera. It even seems like that when converting from 2d to 3d." }, { "id": 663706, "postDate": "2019-11-02T15:03:00.213Z", "content": "

I think that sqrt(z**2 + y**2) is the distance from the screen. And you are right, z is 5 times larger than y

", "rawMarkdown": "I think that `sqrt(z**2 + y**2)` is the distance from the screen. And you are right, z is 5 times larger than y", "votes": 2 } ] }, { "id": 691296, "postDate": "2019-12-10T00:01:14.687Z", "content": "

From the api of ApolloScape, it seems that the roll,pitch,yaw is the correct order:\nhttp://apolloscape.auto/car_instance.html#to_example_href

\n\n
\"pose\" : [roll,pitch,yaw,x,y,z]\n
", "rawMarkdown": "From the api of ApolloScape, it seems that the `roll,pitch,yaw` is the correct order:\nhttp://apolloscape.auto/car_instance.html#to_example_href\n\n \"pose\" : [roll,pitch,yaw,x,y,z]", "votes": -1, "replies": [ { "id": 691330, "postDate": "2019-12-10T02:05:54.753Z", "content": "

Submission with that order drastically drops score, so it isn't the order for this competition

", "rawMarkdown": "Submission with that order drastically drops score, so it isn't the order for this competition" } ] }, { "id": 702942, "postDate": "2019-12-25T11:40:53.283Z", "content": "

So whichone is the final correct sequence? @greatgamedota

", "rawMarkdown": "So whichone is the final correct sequence? @greatgamedota ", "replies": [ { "id": 703005, "postDate": "2019-12-25T13:15:29.177Z", "content": "

yaw,pitch,roll

", "rawMarkdown": "yaw,pitch,roll" }, { "id": 703115, "postDate": "2019-12-25T16:22:25.120Z", "content": "

With yaw being Pitch in this comp ;)

", "rawMarkdown": "With yaw being Pitch in this comp ;)" }, { "id": 704427, "postDate": "2019-12-27T13:16:14.797Z", "content": "

what's that mean? in train csv the sequence is yaw pitch row, but the commit sequence need pitch yaw row?

", "rawMarkdown": "what's that mean? in train csv the sequence is yaw pitch row, but the commit sequence need pitch yaw row?" }, { "id": 704462, "postDate": "2019-12-27T14:11:22.963Z", "content": "

The meaning of yaw and pitch are swapped in this comp from what they mean everywhere else.

", "rawMarkdown": "The meaning of yaw and pitch are swapped in this comp from what they mean everywhere else." }, { "id": 704558, "postDate": "2019-12-27T16:03:54.367Z", "content": "

\"\"\n@greatgamedota Is submission like upper image sequence right?

", "rawMarkdown": "![](https://www.googleapis.com/download/storage/v1/b/kaggle-user-content/o/inbox%2F347724%2F66babd385e960f0e7c0025f32c89ca3d%2FWechatIMG67.png?generation=1577462591061280&alt=media)\n@greatgamedota Is submission like upper image sequence right?", "votes": 2 }, { "id": 704575, "postDate": "2019-12-27T16:24:10.747Z", "content": "

Yes

", "rawMarkdown": "Yes" }, { "id": 704642, "postDate": "2019-12-27T19:11:05.643Z", "content": "

yes, those are the expected number ranges. All other types of submissions score much lower

", "rawMarkdown": "yes, those are the expected number ranges. All other types of submissions score much lower" } ] }, { "id": 702941, "postDate": "2019-12-25T11:40:24.090Z", "rawMarkdown": "", "isDeleted": true } ], "comments": [ { "id": 663192, "author_name": "FP", "author_url": "", "post_date": "2019-11-01T15:27:31.503000", "content": "

It would be great if the organizer can clarify the sequence of submission. The order is important. Even though the public LB score is lower for \"pitch, yaw, roll\" as I tried, it can be a different story on private LB.

", "votes": 5, "replies": [] }, { "id": 678744, "author_name": "Pascal Pfeiffer", "author_url": "", "post_date": "2019-11-21T19:54:07.513000", "content": "

@greatgamedota Are you sure about EDIT: Seems yaw, pitch, roll order gives the better score?\nmy preds look like \n\n0.14221191 -0.012171654 -3.092215212\n0.13647461 0.010838471 -3.08699670\n0.14135742 -3.1115612637 -3.11189905\n0.12890625 0.2097167531 -3.08952966\n\nwhich should be pitch, yaw, roll

", "votes": 3, "replies": [ { "id": 678746, "author_name": "GreatGameDota", "author_url": "", "post_date": "2019-11-21T19:58:17.083000", "content": "

That order is what I predict too, just the naming is confusing because the competition organizers messed them up...

", "votes": 3, "replies": [] }, { "id": 678763, "author_name": "Pascal Pfeiffer", "author_url": "", "post_date": "2019-11-21T20:53:48.540000", "content": "

Good, thanks for clarification

", "votes": 0, "replies": [] } ] }, { "id": 678526, "author_name": "Nirjhar Roy", "author_url": "", "post_date": "2019-11-21T13:49:18.273000", "content": "

I was just reading this here the Sensor Coordinate System and Vehicle Coordinate system . I understand from the image is that z is the distance from camera . \n\"\"

\n\n

\"\"

", "votes": 3, "replies": [ { "id": 685787, "author_name": "AmelNozieres", "author_url": "", "post_date": "2019-12-02T09:28:19.023000", "content": "

Thanks for sharing. This is so helpful!

", "votes": 0, "replies": [] } ] }, { "id": 663579, "author_name": "Ruslan Baynazarov", "author_url": "", "post_date": "2019-11-02T11:01:02.163000", "content": "

Looks like x, y, z are messed up a bit.
\nThis is the distribution of cars in 3d space:\n\"\"\nI thought that y is the distance from camera and z is height from the ground. But from this distribution it looks like coordinate system is tilted.
\nConsidering this, yaw, pitch, roll are correct, just you look from a different angle.

", "votes": 3, "replies": [ { "id": 663638, "author_name": "GreatGameDota", "author_url": "", "post_date": "2019-11-02T12:57:45.160000", "content": "

I've been calculating x, y, z based on the training set and it seemed to me that z was the distance from the camera. It even seems like that when converting from 2d to 3d.

", "votes": 0, "replies": [] }, { "id": 663706, "author_name": "Ruslan Baynazarov", "author_url": "", "post_date": "2019-11-02T15:03:00.213000", "content": "

I think that sqrt(z**2 + y**2) is the distance from the screen. And you are right, z is 5 times larger than y

", "votes": 2, "replies": [] } ] }, { "id": 691296, "author_name": "Jon", "author_url": "", "post_date": "2019-12-10T00:01:14.687000", "content": "

From the api of ApolloScape, it seems that the roll,pitch,yaw is the correct order:\nhttp://apolloscape.auto/car_instance.html#to_example_href

\n\n
\"pose\" : [roll,pitch,yaw,x,y,z]\n
", "votes": -1, "replies": [ { "id": 691330, "author_name": "GreatGameDota", "author_url": "", "post_date": "2019-12-10T02:05:54.753000", "content": "

Submission with that order drastically drops score, so it isn't the order for this competition

", "votes": 0, "replies": [] } ] }, { "id": 702942, "author_name": "cswwp", "author_url": "", "post_date": "2019-12-25T11:40:53.283000", "content": "

So whichone is the final correct sequence? @greatgamedota

", "votes": 0, "replies": [ { "id": 703005, "author_name": "GreatGameDota", "author_url": "", "post_date": "2019-12-25T13:15:29.177000", "content": "

yaw,pitch,roll

", "votes": 0, "replies": [] }, { "id": 703115, "author_name": "Pascal Pfeiffer", "author_url": "", "post_date": "2019-12-25T16:22:25.120000", "content": "

With yaw being Pitch in this comp ;)

", "votes": 0, "replies": [] }, { "id": 704427, "author_name": "kevin", "author_url": "", "post_date": "2019-12-27T13:16:14.797000", "content": "

what's that mean? in train csv the sequence is yaw pitch row, but the commit sequence need pitch yaw row?

", "votes": 0, "replies": [] }, { "id": 704462, "author_name": "GreatGameDota", "author_url": "", "post_date": "2019-12-27T14:11:22.963000", "content": "

The meaning of yaw and pitch are swapped in this comp from what they mean everywhere else.

", "votes": 0, "replies": [] }, { "id": 704558, "author_name": "cswwp", "author_url": "", "post_date": "2019-12-27T16:03:54.367000", "content": "

\"\"\n@greatgamedota Is submission like upper image sequence right?

", "votes": 2, "replies": [] }, { "id": 704575, "author_name": "GreatGameDota", "author_url": "", "post_date": "2019-12-27T16:24:10.747000", "content": "

Yes

", "votes": 0, "replies": [] }, { "id": 704642, "author_name": "Pascal Pfeiffer", "author_url": "", "post_date": "2019-12-27T19:11:05.643000", "content": "

yes, those are the expected number ranges. All other types of submissions score much lower

", "votes": 0, "replies": [] } ] }, { "id": 702941, "author_name": "", "author_url": "", "post_date": "2019-12-25T11:40:24.090000", "content": "", "votes": 0, "replies": [] } ], "raw_markdown_by_id": { "662716": "People have been saying that the training set yaw and pitch were flip flopped, which is correct, but I see that it is also the same way in the documentation for this comp: \n![](https://www.googleapis.com/download/storage/v1/b/kaggle-user-content/o/inbox%2F3543139%2F14d3fd2206631383af19ec668b74476f%2FAnnotation%202019-10-31%20173305.png?generation=1572561395790197&alt=media)\n![](https://www.googleapis.com/download/storage/v1/b/kaggle-user-content/o/inbox%2F3543139%2Ff27026de2c379c5b2b65dea4de657ce6%2FAnnotation%202019-10-31%20173235.png?generation=1572561373877234&alt=media)\nThe question is which is the correct order we should be finalizing our predictions in? \nEDIT: Seems yaw, pitch, roll order gives the better score", "663192": "It would be great if the organizer can clarify the sequence of submission. The order is important. Even though the public LB score is lower for \"pitch, yaw, roll\" as I tried, it can be a different story on private LB. ", "678744": "@greatgamedota Are you sure about `EDIT: Seems yaw, pitch, roll order gives the better score`?\nmy preds look like \n```\n0.14221191 -0.012171654 -3.092215212\n0.13647461 0.010838471 -3.08699670\n0.14135742 -3.1115612637 -3.11189905\n0.12890625 0.2097167531 -3.08952966\n```\nwhich should be pitch, yaw, roll", "678526": "I was just reading this here the Sensor Coordinate System and Vehicle Coordinate system . I understand from the image is that z is the distance from camera . \n![](https://www.googleapis.com/download/storage/v1/b/kaggle-user-content/o/inbox%2F2234817%2Ffb4e9654bd6758e684bbc0388397f205%2FSensor_Coordinate_System.PNG?generation=1574344125099819&alt=media)\n\n![](https://www.googleapis.com/download/storage/v1/b/kaggle-user-content/o/inbox%2F2234817%2F7102a710aed63b49141b31652c93e20d%2FVehicle_Coordinate_System.PNG?generation=1574344153742687&alt=media)\n", "663579": "Looks like `x, y, z` are messed up a bit. \nThis is the distribution of cars in 3d space:\n![](https://www.googleapis.com/download/storage/v1/b/kaggle-user-content/o/inbox%2F1634816%2Feda35e64e0f2f4373903f3a0233bdae1%2FScreenshot%20from%202019-11-02%2013-52-50.png?generation=1572692001397864&alt=media)\nI thought that `y` is the distance from camera and `z` is height from the ground. But from this distribution it looks like coordinate system is tilted. \nConsidering this, `yaw, pitch, roll` are correct, just you look from a different angle. ", "691296": "From the api of ApolloScape, it seems that the `roll,pitch,yaw` is the correct order:\nhttp://apolloscape.auto/car_instance.html#to_example_href\n\n \"pose\" : [roll,pitch,yaw,x,y,z]", "702942": "So whichone is the final correct sequence? @greatgamedota ", "702941": "" } }