Inconsistent Yaw. Motionformer has wrong anchors as a consequence.

[chriskeraly]

There is an inconsistency in this repository of how yaw is calculated.

As a consequence the anchors in motionformer are usually oriented wrong. See screenshot bellow, which has the main straight anchor plotted alongside with the bounding boxes. Interestingly the model is able to correct for this, but there is likely some performance left on the table