Class BboxOverlaps3D

embodiedscan/structures/ops/iou3d_calculator.py:58–96

3D IoU Calculator. Args: coordinate (str): The coordinate system, valid options are 'camera', 'lidar', and 'depth'.

@TASK_UTILS.register_module()
class BboxOverlaps3D(object):
    """3D IoU Calculator.

    Args:
        coordinate (str): The coordinate system, valid options are
            'camera', 'lidar', and 'depth'.
    """

    def __init__(self, coordinate):
        assert coordinate in ['camera', 'lidar', 'depth']
        self.coordinate = coordinate

    def __call__(self, bboxes1, bboxes2, mode='iou'):
        """Calculate 3D IoU using cuda implementation.

        Note:
            This function calculate the IoU of 3D boxes based on their volumes.
            IoU calculator ``:class:BboxOverlaps3D`` uses this function to
            calculate the actual 3D IoUs of boxes.

        Args:
            bboxes1 (torch.Tensor): with shape (N, 7+C),
                (x, y, z, x_size, y_size, z_size, ry, v*).
            bboxes2 (torch.Tensor): with shape (M, 7+C),
                (x, y, z, x_size, y_size, z_size, ry, v*).
            mode (str): "iou" (intersection over union) or
                iof (intersection over foreground).

        Return:
            torch.Tensor: Bbox overlaps results of bboxes1 and bboxes2
                with shape (M, N) (aligned mode is not supported currently).
        """
        return bbox_overlaps_3d(bboxes1, bboxes2, mode, self.coordinate)

    def __repr__(self):
        """str: return a string that describes the module"""
        repr_str = self.__class__.__name__
        repr_str += f'(coordinate={self.coordinate}'
        return repr_str


def bbox_overlaps_nearest_3d(bboxes1,