def test_polygon_intersection():
a = BBox3D(0.5, 0.5, 0.5, 1, 1, 1)
b = BBox3D(1, 1, 1, 1, 1, 1)
i1 = clip(a.p[0:4, 0:2], b.p[0:4, 0:2])
i1 = np.array(i1)
i2 = polygon_intersection(a.p[0:4, 0:2], b.p[0:4, 0:2])
assert np.array_equal(i1, i2)
def jaccard_index_3d(a: BBox3D, b: BBox3D):
"""
Compute the Jaccard Index / Intersection over Union (IoU) of a pair of 3D bounding boxes.
We compute the IoU using the top-down bird's eye view of the boxes.
**Note**: We follow the KITTI format and assume only yaw rotations (along z-axis).
Parameters
----------
a : BBox3D
3D bounding box.
b : BBox3D
3D bounding box.
Returns
-------
float
The IoU of the 2 bounding boxes.
"""
# check if the two boxes don't overlap
if not polygon_collision(a.p[0:4, 0:2], b.p[0:4, 0:2]):
return np.round_(0, decimals=5)
intersection_points = polygon_intersection(a.p[0:4, 0:2], b.p[0:4, 0:2])
inter_area = polygon_area(intersection_points)
zmax = np.minimum(a.cz, b.cz)
zmin = np.maximum(a.cz - a.h, b.cz - b.h)
inter_vol = inter_area * np.maximum(0, zmax - zmin)
a_vol = a.l * a.w * a.h
b_vol = b.l * b.w * b.h
union_vol = (a_vol + b_vol - inter_vol)
iou = inter_vol / union_vol
# set nan and +/- inf to 0
if np.isinf(iou) or np.isnan(iou):
iou = 0
return np.round_(iou, decimals=5)