mmcv.ops.points_in_boxes_cpu

mmcv.ops.points_in_boxes_cpu(points: torch.Tensor, boxes: torch.Tensor) → torch.Tensor

Find all boxes in which each point is (CPU). The CPU version of points_in_boxes_all().

参数

• points (torch.Tensor) – [B, M, 3], [x, y, z] in LiDAR/DEPTH coordinate

• boxes (torch.Tensor) – [B, T, 7], num_valid_boxes <= T, [x, y, z, x_size, y_size, z_size, rz], (x, y, z) is the bottom center.

返回

Return the box indices of points with the shape of (B, M, T). Default background = 0.

返回类型

torch.Tensor