Function iou_jit

embodiedscan/structures/ops/box_np_ops.py:497–535

Calculate box iou. Note that jit version runs ~10x faster than the box_overlaps function in mmdet3d.core.evaluation. Note: This function is for counterclockwise boxes. Args: boxes (np.ndarray): Input bounding boxes with shape of (N, 4). query_boxes (np.ndarray):

(boxes, query_boxes, mode='iou', eps=0.0)

@numba.jit(nopython=True)
def iou_jit(boxes, query_boxes, mode='iou', eps=0.0):
    """Calculate box iou. Note that jit version runs ~10x faster than the
    box_overlaps function in mmdet3d.core.evaluation.

    Note:
        This function is for counterclockwise boxes.

    Args:
        boxes (np.ndarray): Input bounding boxes with shape of (N, 4).
        query_boxes (np.ndarray): Query boxes with shape of (K, 4).
        mode (str, optional): IoU mode. Defaults to 'iou'.
        eps (float, optional): Value added to denominator. Defaults to 0.

    Returns:
        np.ndarray: Overlap between boxes and query_boxes
            with the shape of [N, K].
    """
    N = boxes.shape[0]
    K = query_boxes.shape[0]
    overlaps = np.zeros((N, K), dtype=boxes.dtype)
    for k in range(K):
        box_area = ((query_boxes[k, 2] - query_boxes[k, 0] + eps) *
                    (query_boxes[k, 3] - query_boxes[k, 1] + eps))
        for n in range(N):
            iw = (min(boxes[n, 2], query_boxes[k, 2]) -
                  max(boxes[n, 0], query_boxes[k, 0]) + eps)
            if iw > 0:
                ih = (min(boxes[n, 3], query_boxes[k, 3]) -
                      max(boxes[n, 1], query_boxes[k, 1]) + eps)
                if ih > 0:
                    if mode == 'iou':
                        ua = ((boxes[n, 2] - boxes[n, 0] + eps) *
                              (boxes[n, 3] - boxes[n, 1] + eps) + box_area -
                              iw * ih)
                    else:
                        ua = ((boxes[n, 2] - boxes[n, 0] + eps) *
                              (boxes[n, 3] - boxes[n, 1] + eps))
                    overlaps[n, k] = iw * ih / ua
    return overlaps


def projection_matrix_to_CRT_kitti(proj):