From e48f8978d7c6e42272bfb72d8872385207e098ea Mon Sep 17 00:00:00 2001
From: Xav <50361174+xavhl@users.noreply.github.com>
Date: Fri, 19 May 2023 14:47:38 +0800
Subject: [PATCH] Update box_utils.py

Fixed bug of undercounting bounding boxes from def mask_boxes_outside_range_numpy()
---
 opencood/utils/box_utils.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/opencood/utils/box_utils.py b/opencood/utils/box_utils.py
index c42e4de4..f780f509 100644
--- a/opencood/utils/box_utils.py
+++ b/opencood/utils/box_utils.py
@@ -394,7 +394,7 @@ def mask_boxes_outside_range_numpy(boxes, limit_range, order,
 
     new_boxes = boxes.copy()
     if boxes.shape[1] == 7:
-        new_boxes = boxes_to_corners_3d(new_boxes, order)
+        new_boxes = boxes_to_corners_3d(new_boxes, order).astype(int)
 
     mask = ((new_boxes >= limit_range[0:3]) &
             (new_boxes <= limit_range[3:6])).all(axis=2)
@@ -953,4 +953,4 @@ def box_decode(
 
     ret.append(rg)
 
-    return torch.cat(ret, dim=-1)
\ No newline at end of file
+    return torch.cat(ret, dim=-1)