2 Commits

Author SHA1 Message Date
Nikhila Ravi
53266ec9ff C++ IoU for 3D Boxes
Summary: C++ Implementation of algorithm to compute 3D bounding boxes for batches of bboxes of shape (N, 8, 3) and (M, 8, 3).

Reviewed By: gkioxari

Differential Revision: D30905190

fbshipit-source-id: 02e2cf025cd4fa3ff706ce5cf9b82c0fb5443f96
2021-09-29 17:03:43 -07:00
Nikhila Ravi
2293f1fed0 IoU for 3D boxes
Summary:
I have implemented an exact solution for 3D IoU of oriented 3D boxes.

This file includes:
* box3d_overlap: which computes the exact IoU of box1 and box2
* box3d_overlap_sampling: which computes an approximate IoU of box1 and box2 by sampling points within the boxes

Note that both implementations currently do not support batching.

Our exact IoU implementation is based on the fact that the intersecting shape of the two 3D boxes will be formed by segments of the surface of the boxes. Our algorithm computes these segments by reasoning whether triangles of one box are within the second box and vice versa. We deal with intersecting triangles by clipping them.

Reviewed By: gkioxari

Differential Revision: D30667497

fbshipit-source-id: 2f747f410f90b7f854eeaf3036794bc3ac982917
2021-09-29 13:44:10 -07:00