mmcv.ops.nms3d_normal

mmcv.ops.nms3d_normal(boxes: torch.Tensor, scores: torch.Tensor, iou_threshold: float) → torch.Tensor

Normal 3D NMS function GPU implementation. The overlap of two boxes for IoU calculation is defined as the exact overlapping area of the two boxes WITH their yaw angle set to 0.

参数

• boxes (torch.Tensor) – Input boxes with shape (N, 7). ([x, y, z, dx, dy, dz, heading]).

• scores (torch.Tensor) – Scores of predicted boxes with shape (N).

• iou_threshold (float) – Overlap threshold of NMS.

返回

Remaining indices with scores in descending order.

返回类型

torch.Tensor