a question about angle_in_limit about voxelnet

[ansabsheikh9]

hi @bonne658 you could use this function inorder to limit the angle,
#5 (comment)
def limit_period(val, offset=0.5, period=np.pi):
return val - np.floor(val / period + offset) * period
period= 2*np.pi to limit angle to [-pi, pi].

[lonlonago]

@ansabsheikh9 hello , why set rz = -ry - np.pi / 2 ?