Class BBox3DL1Cost

embodiedscan/models/losses/match_cost.py:50–75

L1 cost for 3D boxes.

@TASK_UTILS.register_module()
class BBox3DL1Cost(BaseMatchCost):
    """L1 cost for 3D boxes."""

    def __call__(self,
                 pred_instances: InstanceData,
                 gt_instances: InstanceData,
                 img_meta: Optional[dict] = None,
                 **kwargs) -> Tensor:
        """Compute match cost.

        Args:
            bbox_pred (Tensor): Predicted boxes with normalized coordinates
                (cx,cy,l,w,cz,h,sin(φ),cos(φ),v_x,v_y)
                which are all in range [0, 1] and shape [num_query, 10].
            gt_bboxes (Tensor): Ground truth boxes with `normalized`
                coordinates (cx,cy,l,w,cz,h,sin(φ),cos(φ),v_x,v_y).
                Shape [num_gt, 10].
        Returns:
            Tensor: Match Cost matrix of shape (num_preds, num_gts).
        """
        pred_bboxes = pred_instances.bboxes_3d.tensor  # (num_preds, 9)
        gt_bboxes = gt_instances.bboxes_3d.tensor  # (num_gts, 9)

        bbox_cost = torch.cdist(pred_bboxes, gt_bboxes,
                                p=1)  # (num_preds, num_gt)
        return bbox_cost * self.weight


@TASK_UTILS.register_module()