How to get the results of different heading angles?

[tdzdog]

In the paper, Table 7 provides a result breakdown w.r.t heading angles. However, the waymo open dataset tool does not provide such a breakdown. Hence, how to get such results?

[tianweiy]

I can't find the code I used back then. But you basically need to add a breakdown in the metric computation. This is actually easy. You can check out this file https://github.com/waymo-research/waymo-open-dataset/blob/master/waymo_open_dataset/metrics/breakdown_generator.cc

Basically, you need to retrieve each object's angle and write a few if else to classify them into different bins.