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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# The MIT License (MIT)
#
# Copyright (c) 2018-2021 www.open3d.org
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
# IN THE SOFTWARE.
# ----------------------------------------------------------------------------
import numpy as np
import pytest
import open3d as o3d
import sys
import os
sys.path.append(os.path.dirname(os.path.realpath(__file__)) + "/..")
from open3d_test import list_devices
@pytest.mark.parametrize("device", list_devices())
def test_bev_iou(device):
# (x_center, z_center, x_size, z_size, y_rotate)
boxes_0 = np.array(
[[2.72802408, 7.45882562, 0.66284931, 0.50729007, 3.10826707],
[-12.76986872, 19.57236453, 3.99570131, 1.61373711, -2.76809883],
[-2.58648862, 31.65405458, 4.07396841, 1.58861041, -1.8442196],
[-12.69745747, 38.14453306, 3.8139441, 1.5743469, 1.8430678],
[-24.01241376, 32.02714812, 4.27763176, 1.69929349, -2.42430088],
[-2.48355601, 48.38333119, 3.66774344, 1.5648849, -1.68973509],
[-1.07197606, 65.3773688, 3.7635324, 1.65267885, 1.58406118]],
dtype=np.float32)
boxes_1 = np.array([[-2.61000003, 31.72999998, 4.32, 1.64, -1.84159258],
[-12.54000039, 19.71999952, 3.88, 1.62, -2.72159267],
[-12.66000011, 38.43999833, 4.29, 1.67, 1.72999993]],
dtype=np.float32)
ref = np.array(
[[0., 0., 0.], [0., 0.7067936, 0.], [0.9134971, 0., 0.],
[0., 0., 0.7598292], [0., 0., 0.], [0., 0., 0.], [0., 0., 0.]],
dtype=np.float32)
if device.get_type() == o3d.core.Device.DeviceType.CPU:
from open3d.ml.contrib import iou_bev_cpu
iou_bev = iou_bev_cpu
elif device.get_type() == o3d.core.Device.DeviceType.CUDA:
from open3d.ml.contrib import iou_bev_cuda
iou_bev = iou_bev_cuda
else:
raise ("Unsupported device.")
result = iou_bev(boxes_0, boxes_1)
np.testing.assert_allclose(result, ref, rtol=1e-5, atol=1e-8)
assert result.dtype == ref.dtype
@pytest.mark.parametrize("device", list_devices())
def test_3d_iou(device):
# yapf: disable
# (x_center, y_max, z_center, x_size, y_size, z_size, y_rotate)
boxes_0 = np.array([[2.72802408, 0.91428565, 7.45882562, 0.66284931, 1.7254113, 0.50729007, 3.10826707],
[-12.76986872, 1.4418739, 19.57236453, 3.99570131, 1.4493804, 1.61373711, -2.76809883],
[-2.58648862, 1.01205023, 31.65405458, 4.07396841, 1.43224728, 1.58861041, -1.8442196],
[-12.69745747, 1.37015877, 38.14453306, 3.8139441, 1.43979049, 1.5743469, 1.8430678],
[-24.01241376, 0.97207756, 32.02714812, 4.27763176, 1.61623788, 1.69929349, -2.42430088],
[-2.48355601, 0.67658259, 48.38333119, 3.66774344, 1.51509488, 1.5648849, -1.68973509],
[-1.07197606, 0.48189101, 65.3773688, 3.7635324, 1.65629184, 1.65267885, 1.58406118]],
dtype=np.float32)
boxes_1 = np.array([[-2.61000003, 1.12999999, 31.72999998, 4.32, 1.67, 1.64, -1.84159258],
[-12.54000039, 1.64000001, 19.71999952, 3.88, 1.5, 1.62, -2.72159267],
[-12.66000011, 1.13000002, 38.43999833, 4.29, 1.68, 1.67, 1.72999993]],
dtype=np.float32)
ref = np.array([[0., 0., 0.],
[0., 0.57643616, 0.],
[0.7834455, 0., 0.],
[0., 0., 0.49211255],
[0., 0., 0.],
[0., 0., 0.],
[0., 0., 0.]], dtype=np.float32)
# yapf: enable
if device.get_type() == o3d.core.Device.DeviceType.CPU:
from open3d.ml.contrib import iou_3d_cpu
iou_3d = iou_3d_cpu
elif device.get_type() == o3d.core.Device.DeviceType.CUDA:
from open3d.ml.contrib import iou_3d_cuda
iou_3d = iou_3d_cuda
else:
raise ("Unsupported device.")
result = iou_3d(boxes_0, boxes_1)
np.testing.assert_allclose(result, ref, rtol=1e-5, atol=1e-8)
assert result.dtype == ref.dtype
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