add rbbox intersection cpu for kitti evaluation

include/spconv/box_iou.h

@@ -97,5 +97,61 @@ rbbox_iou(py::array_t<DType> box_corners, py::array_t<DType> qbox_corners,
   }
   return overlaps;
 }
+
+template <typename DType>
+py::array_t<DType>
+rbbox_intersection(py::array_t<DType> box_corners, py::array_t<DType> qbox_corners,
+          py::array_t<DType> standup_iou, DType standup_thresh) {
+  namespace bg = boost::geometry;
+  typedef bg::model::point<DType, 2, bg::cs::cartesian> point_t;
+  typedef bg::model::polygon<point_t> polygon_t;
+  polygon_t poly, qpoly;
+  std::vector<polygon_t> poly_inter, poly_union;
+  DType inter_area, union_area;
+  auto box_corners_r = box_corners.template unchecked<3>();
+  auto qbox_corners_r = qbox_corners.template unchecked<3>();
+  auto standup_iou_r = standup_iou.template unchecked<2>();
+  auto N = box_corners_r.shape(0);
+  auto K = qbox_corners_r.shape(0);
+  py::array_t<DType> overlaps = zeros<DType>({int(N), int(K)});
+  auto overlaps_rw = overlaps.template mutable_unchecked<2>();
+  if (N == 0 || K == 0) {
+    return overlaps;
+  }
+  for (int k = 0; k < K; ++k) {
+    for (int n = 0; n < N; ++n) {
+      if (standup_iou_r(n, k) <= standup_thresh)
+        continue;
+      bg::append(poly, point_t(box_corners_r(n, 0, 0), box_corners_r(n, 0, 1)));
+      bg::append(poly, point_t(box_corners_r(n, 1, 0), box_corners_r(n, 1, 1)));
+      bg::append(poly, point_t(box_corners_r(n, 2, 0), box_corners_r(n, 2, 1)));
+      bg::append(poly, point_t(box_corners_r(n, 3, 0), box_corners_r(n, 3, 1)));
+      bg::append(poly, point_t(box_corners_r(n, 0, 0), box_corners_r(n, 0, 1)));
+      bg::append(qpoly,
+                 point_t(qbox_corners_r(k, 0, 0), qbox_corners_r(k, 0, 1)));
+      bg::append(qpoly,
+                 point_t(qbox_corners_r(k, 1, 0), qbox_corners_r(k, 1, 1)));
+      bg::append(qpoly,
+                 point_t(qbox_corners_r(k, 2, 0), qbox_corners_r(k, 2, 1)));
+      bg::append(qpoly,
+                 point_t(qbox_corners_r(k, 3, 0), qbox_corners_r(k, 3, 1)));
+      bg::append(qpoly,
+                 point_t(qbox_corners_r(k, 0, 0), qbox_corners_r(k, 0, 1)));
+
+      bg::intersection(poly, qpoly, poly_inter);
+
+      if (!poly_inter.empty()) {
+        inter_area = bg::area(poly_inter.front());
+        overlaps_rw(n, k) = inter_area;
+      }
+      poly.clear();
+      qpoly.clear();
+      poly_inter.clear();
+    }
+  }
+  return overlaps;
+}
+
+
 } // namespace spconv
 #endif
\ No newline at end of file

spconv/utils/__init__.py

@@ -16,7 +16,7 @@ import numpy as np
 from spconv import spconv_utils
 from spconv.spconv_utils import (non_max_suppression, non_max_suppression_cpu,
                                  points_to_voxel_3d_np, rbbox_iou,
-                                 rotate_non_max_suppression_cpu)
+                                 rotate_non_max_suppression_cpu, rbbox_intersection)
 
 def points_to_voxel(points,
                      voxel_size,

src/utils/all.cc

@@ -41,6 +41,14 @@ PYBIND11_MODULE(spconv_utils, m)
           py::return_value_policy::reference_internal, "rbbox iou",
           "box_corners"_a = 1, "qbox_corners"_a = 2, "standup_iou"_a = 3,
           "standup_thresh"_a = 4);
+    m.def("rbbox_intersection", &spconv::rbbox_intersection<double>,
+          py::return_value_policy::reference_internal, "rbbox iou",
+          "box_corners"_a = 1, "qbox_corners"_a = 2, "standup_iou"_a = 3,
+          "standup_thresh"_a = 4);
+    m.def("rbbox_intersection", &spconv::rbbox_intersection<float>,
+          py::return_value_policy::reference_internal, "rbbox iou",
+          "box_corners"_a = 1, "qbox_corners"_a = 2, "standup_iou"_a = 3,
+          "standup_thresh"_a = 4);
     m.def("points_to_voxel_3d_np", &spconv::points_to_voxel_3d_np<float, 3>,
           "matrix tensor_square", "points"_a = 1, "voxels"_a = 2, "coors"_a = 3,
           "num_points_per_voxel"_a = 4, "coor_to_voxelidx"_a = 5,