def box3d_overlap(boxes, qboxes, criterion=-1, z_axis=1, z_center=1.0):
"""kitti camera format z_axis=1.
"""
bev_axes = list(range(7))
bev_axes.pop(z_axis + 3)
bev_axes.pop(z_axis)
rinc = rotate_iou_gpu_eval(boxes[:, bev_axes], qboxes[:, bev_axes], 2)
box3d_overlap_kernel(boxes, qboxes, rinc, criterion, z_axis, z_center)
return rinc
def bev_box_overlap(boxes, qboxes, criterion=-1, stable=False):
if stable:
riou = box_np_ops.riou_cc(boxes, qboxes)
else:
riou = rotate_iou_gpu_eval(boxes, qboxes, criterion)
return riou