mmcv.ops.points_in_boxes_part

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

Find the box in which each point is (CUDA).

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] in LiDAR/DEPTH coordinate, (x, y, z) is the bottom center.

返回

Return the box indices of points with the shape of (B, M). Default background = -1.

返回类型

torch.Tensor