Waymo dataset

[johannes-tum]

Hi,

Thanks for very nice paper and your extensive experiments. I would have two questions regarding Waymo:

• In the paper you say that you only consider objects in the front camera within the field of view of of 50.4°. Where do you do the fov based filtering in the code? And how do you measure the fov of an object? E.g. does the center of the object have to be in the fov or just a single lidar point, ...?
• And do you filter the ground truth objects that are used for evaluation in the same way as during training?

Best wishes