[BUG]: Radar Data Collection

[erikdeinzer]

Hi all,

first of all, thank you for this dataset which really helps accelerating development for AV!

Unfortunately, I found a crucial mistake in your data collector:

You initialize both Back Radars with the same rotation, but RADAR_BACK_RIGHTs rotation should be yaw=90 instead of -90.

{
                    'type': 'sensor.other.radar', 
                    'x': -2.0, 'y': -0.67, 'z': 0.51, 
                    'roll': 0.0, 'pitch': 0.0, 'yaw': -90.0,
                    'range': 100, 'horizontal_fov': 30, 'vertical_fov': 30,
                    'id': 'RADAR_BACK_LEFT'
                    },
                {
                    'type': 'sensor.other.radar', 
                    'x': -2.0, 'y': 0.67, 'z': 0.51, 
                    'roll': 0.0, 'pitch': 0.0, 'yaw': -90.0,
                    'range': 100, 'horizontal_fov': 30, 'vertical_fov': 30,
                    'id': 'RADAR_BACK_RIGHT'
                    },

https://github.com/Thinklab-SJTU/Bench2Drive/blob/21d85eebcc219e058eaed02c95ce9d694b4a9175/tools/data_collect.py#L665C1-L677C23

Unluckily, this massively impairs radar data pipelines. Also, a rotation similar to nuscenes (yaw=180) would make the most sense, since otherwise we have two sensors on each side looking in the same direction with almost no translational difference.

If, with this information, you think about rerecording the dataset, please let me know!

[jayyoung0802]

Hi @erikdeinzer, thanks for your questions. We have launched the new version, stay tuned!

[erikdeinzer]

Hi @jayyoung0802, thank you very much for this fast reply and ongoing support! I am glad to hear you will resolve this issue, this will allow me to use Bench2Drive for my research.

[erikdeinzer]

Hi there, do you have any updates on when the new version will be released?