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import numpy as np
def box3d_iou(corners1, corners2):
''' Compute 3D bounding box IoU.
Input:
corners1: numpy array (8,3), assume up direction is Z
corners2: numpy array (8,3), assume up direction is Z
Output:
iou: 3D bounding box IoU
'''
x_min_1, x_max_1, y_min_1, y_max_1, z_min_1, z_max_1 = get_box3d_min_max(corners1)
x_min_2, x_max_2, y_min_2, y_max_2, z_min_2, z_max_2 = get_box3d_min_max(corners2)
xA = np.maximum(x_min_1, x_min_2)
yA = np.maximum(y_min_1, y_min_2)
zA = np.maximum(z_min_1, z_min_2)
xB = np.minimum(x_max_1, x_max_2)
yB = np.minimum(y_max_1, y_max_2)
zB = np.minimum(z_max_1, z_max_2)
inter_vol = np.maximum((xB - xA), 0) * np.maximum((yB - yA), 0) * np.maximum((zB - zA), 0)
box_vol_1 = (x_max_1 - x_min_1) * (y_max_1 - y_min_1) * (z_max_1 - z_min_1)
box_vol_2 = (x_max_2 - x_min_2) * (y_max_2 - y_min_2) * (z_max_2 - z_min_2)
iou = inter_vol / (box_vol_1 + box_vol_2 - inter_vol + 1e-8)
return iou
def get_box3d_min_max(corner):
''' Compute min and max coordinates for 3D bounding box
Note: only for axis-aligned bounding boxes
Input:
corners: numpy array (8,3), assume up direction is Z (batch of N samples)
Output:
box_min_max: an array for min and max coordinates of 3D bounding box IoU
'''
min_coord = corner.min(axis=0)
max_coord = corner.max(axis=0)
x_min, x_max = min_coord[0], max_coord[0]
y_min, y_max = min_coord[1], max_coord[1]
z_min, z_max = min_coord[2], max_coord[2]
return x_min, x_max, y_min, y_max, z_min, z_max
def get_3d_box(center, box_size):
''' box_size is array(l,w,h), heading_angle is radius clockwise from pos x axis, center is xyz of box center
output (8,3) array for 3D box cornders
Similar to utils/compute_orientation_3d
'''
l,w,h = box_size
# x_corners = [l/2,l/2,-l/2,-l/2,l/2,l/2,-l/2,-l/2]
# y_corners = [h/2,h/2,h/2,h/2,-h/2,-h/2,-h/2,-h/2]
# z_corners = [w/2,-w/2,-w/2,w/2,w/2,-w/2,-w/2,w/2]
x_corners = [l/2,l/2,-l/2,-l/2,l/2,l/2,-l/2,-l/2]
y_corners = [w/2,-w/2,-w/2,w/2,w/2,-w/2,-w/2,w/2]
z_corners = [h/2,h/2,h/2,h/2,-h/2,-h/2,-h/2,-h/2]
corners_3d = np.vstack([x_corners,y_corners,z_corners])
corners_3d[0,:] = corners_3d[0,:] + center[0]
corners_3d[1,:] = corners_3d[1,:] + center[1]
corners_3d[2,:] = corners_3d[2,:] + center[2]
corners_3d = np.transpose(corners_3d)
return corners_3d |