def iou2d(box_a, box_b):
boxa_corners = np.array(BBox.box2corners2d(box_a))[:, :2]
boxb_corners = np.array(BBox.box2corners2d(box_b))[:, :2]
reca, recb = Polygon(boxa_corners), Polygon(boxb_corners)
overlap = reca.intersection(recb).area
area_a = reca.area
area_b = recb.area
iou = overlap / (area_a + area_b - overlap + 1e-10)
return iou
def handler_box(self, box: BBox, message: str = '', color='red'):
corners = np.array(BBox.box2corners2d(box))[:, :2]
corners = np.concatenate([corners, corners[0:1, :2]])
plt.plot(corners[:, 0], corners[:, 1], color=self.COLOR_MAP[color])
plt.text(corners[0, 0] - 1,
corners[0, 1] - 1,
message,
color=self.COLOR_MAP['black'])
def iou3d(box_a, box_b):
boxa_corners = np.array(BBox.box2corners2d(box_a))
boxb_corners = np.array(BBox.box2corners2d(box_b))[:, :2]
reca, recb = Polygon(boxa_corners), Polygon(boxb_corners)
overlap_area = reca.intersection(recb).area
iou_2d = overlap_area / (reca.area + recb.area - overlap_area)
ha, hb = box_a.h, box_b.h
za, zb = box_a.z, box_b.z
overlap_height = max(
0, min((za + ha / 2) - (zb - hb / 2), (zb + hb / 2) - (za - ha / 2)))
overlap_volume = overlap_area * overlap_height
union_volume = box_a.w * box_a.l * ha + box_b.w * box_b.l * hb - overlap_volume
iou_3d = overlap_volume / union_volume
union_height = max(za + ha / 2, zb + hb / 2) - min(za - ha / 2,
zb - hb / 2)
return iou_2d, iou_3d
def viewable_corner(bbox: BBox, ego):
# nearest corner, viewable corner
ego_location = ego[:2]
corners = np.array(BBox.box2corners2d(bbox))[:, :2]
dist = corners - ego_location
dist = np.sum(dist * dist, axis=1)
corner_index = np.argmin(dist)
corner_coordiante = corners[corner_index]
return corner_index, corner_coordiante