def test_iou3d_7dof_box(self):
boxes1 = np.array(
[[_degree_to_radians(0.1), 10.0, 20.0, 30.0, 5.0, 6.0, 4.0],
[_degree_to_radians(0.2), 4.0, 5.0, 10.0, -1.0, 2.0, 3.0],
[_degree_to_radians(-0.2), 4.0, 5.0, 1.0, -1.0, -2.0, 3.0]],
dtype=np.float32)
(rotation_z_radians1, length1, height1, width1,
center1) = _decompose_box_tensor(boxes1)
boxes2 = np.array(
[[_degree_to_radians(0.1), 10.0, 20.0, 30.0, 5.0, 6.0, 4.0],
[_degree_to_radians(0.2), 4.0, 5.0, 10.0, -1.0, 2.0, 3.0],
[_degree_to_radians(-0.2), 4.0, 5.0, 1.0, -1.0, -2.0, 3.0],
[_degree_to_radians(-0.2), 4.0, 5.0, 1.0, 100.0, 100.0, 100.0]],
dtype=np.float32)
(rotation_z_radians2, length2, height2, width2,
center2) = _decompose_box_tensor(boxes2)
iou = np_box_ops.iou3d_7dof_box(
boxes1_length=length1,
boxes1_height=height1,
boxes1_width=width1,
boxes1_center=center1,
boxes1_rotation_z_radians=rotation_z_radians1,
boxes2_length=length2,
boxes2_height=height2,
boxes2_width=width2,
boxes2_center=center2,
boxes2_rotation_z_radians=rotation_z_radians2)
expected_iou = np.array(
[[1.0, 0.008, 0.0008, 0.0], [0.008, 1.0, 0.01845, 0.0],
[0.0008, 0.01845, 1.00, 0.0]],
dtype=np.float32)
self.assertAllClose(iou, expected_iou, rtol=0.1, atol=1.0)
def iou3d(boxlist1, boxlist2):
"""Computes pairwise intersection-over-union between box collections.
Args:
boxlist1: BoxList3d holding N boxes.
boxlist2: BoxList3d holding M boxes.
Returns:
a numpy array with shape [N, M] representing pairwise iou scores.
"""
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.iou3d_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.get_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.get_rotation_matrix())
else:
return np_box_ops.iou3d_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())