def test_intersection3d_9dof_box(self):
boxes1_rotations = np.tile(np.expand_dims(np.eye(3), axis=0),
[2, 1, 1])
boxes1_length = np.array([1.0, 1.0])
boxes1_height = np.array([1.0, 1.0])
boxes1_width = np.array([1.0, 1.0])
boxes1_center = np.array([[0.0, 0.0, 0.0], [1.0, 1.0, 1.0]])
boxes2_rotations = np.expand_dims(np.eye(3), axis=0)
boxes2_length = np.array([1.0])
boxes2_height = np.array([1.0])
boxes2_width = np.array([1.0])
boxes2_center = np.array([[0.0, 0.0, 0.0]])
intersections = np_box_ops.intersection3d_9dof_box(
boxes1_length=boxes1_length,
boxes1_height=boxes1_height,
boxes1_width=boxes1_width,
boxes1_center=boxes1_center,
boxes1_rotation_matrix=boxes1_rotations,
boxes2_length=boxes2_length,
boxes2_height=boxes2_height,
boxes2_width=boxes2_width,
boxes2_center=boxes2_center,
boxes2_rotation_matrix=boxes2_rotations)
expected_intersections = np.array([[1.0], [0.0]], dtype=np.float32)
self.assertAllClose(intersections,
expected_intersections,
rtol=0.1,
atol=1.0)
def intersection3d(boxlist1, boxlist2):
"""Computes pairwise intersection areas between boxes.
Args:
boxlist1: BoxList3d holding N boxes.
boxlist2: BoxList3d holding M boxes.
Returns:
a numpy array with shape [N*M] representing pairwise intersection area
"""
boxlist1_rotation_matrix = boxlist1.get_rotation_matrix()
boxlist2_rotation_matrix = boxlist2.get_rotation_matrix()
if (boxlist1_rotation_matrix is not None) and (boxlist2_rotation_matrix
is not None):
return np_box_ops.intersection3d_9dof_box(
boxes1_length=boxlist1.get_length(),
boxes1_height=boxlist1.get_height(),
boxes1_width=boxlist1.get_width(),
boxes1_center=boxlist1.get_center(),
boxes1_rotation_matrix=boxlist1_rotation_matrix,
boxes2_length=boxlist2.get_length(),
boxes2_height=boxlist2.get_height(),
boxes2_width=boxlist2.get_width(),
boxes2_center=boxlist2.get_center(),
boxes2_rotation_matrix=boxlist2_rotation_matrix)
else:
return np_box_ops.intersection3d_7dof_box(
boxes1_length=boxlist1.get_length(),
boxes1_height=boxlist1.get_height(),
boxes1_width=boxlist1.get_width(),
boxes1_center=boxlist1.get_center(),
boxes1_rotation_z_radians=boxlist1.get_rotation_z_radians(),
boxes2_length=boxlist2.get_length(),
boxes2_height=boxlist2.get_height(),
boxes2_width=boxlist2.get_width(),
boxes2_center=boxlist2.get_center(),
boxes2_rotation_z_radians=boxlist2.get_rotation_z_radians())