Function get_points_in_box

pcdet/datasets/augmentor/augmentor_utils.py:453–470

(points, gt_box)

    return gt_boxes, points

def get_points_in_box(points, gt_box):
    x, y, z = points[:,0], points[:,1], points[:,2]
    cx, cy, cz = gt_box[0], gt_box[1], gt_box[2]
    dx, dy, dz, rz = gt_box[3], gt_box[4], gt_box[5], gt_box[6]
    shift_x, shift_y, shift_z = x - cx, y - cy, z - cz

    MARGIN = 1e-1
    cosa, sina = math.cos(-rz), math.sin(-rz)
    local_x = shift_x * cosa + shift_y * (-sina)
    local_y = shift_x * sina + shift_y * cosa

    mask = np.logical_and(abs(shift_z) <= dz / 2.0, \
             np.logical_and(abs(local_x) <= dx / 2.0 + MARGIN, \
                 abs(local_y) <= dy / 2.0 + MARGIN ))

    points = points[mask]

    return points, mask