(gt_boxes, coors, voxel_size, coors_range)
return ret.any(-1).any(-1).astype(np.int64)
assign a 0/1 label to each voxel based on whether 
    the center of voxel is in gt_box. LIDAR.
assign a 0/1 label to each voxel based on whether 
    the center of voxel is in gt_box. LIDAR.
assign a 0 / 1 label to each voxel based on whether the center of voxel is in gt_box . LIDAR .
def assign_label_to_voxel_v3(gt_boxes, coors, voxel_size, coors_range):
    """assign a 0/1 label to each voxel based on whether 
    the center of voxel is in gt_box. LIDAR.
    """
    voxel_size = np.array(voxel_size, dtype=gt_boxes.dtype)
    coors_range = np.array(coors_range, dtype=gt_boxes.dtype)
    shift = coors_range[:3]
    voxel_origins = coors[:, ::-1] * voxel_size + shift
    voxel_maxes = voxel_origins + voxel_size
    voxel_minmax = np.concatenate([voxel_origins, voxel_maxes], axis=-1)
    voxel_corners = minmax_to_corner_3d(voxel_minmax)
    gt_box_corners = center_to_corner_box3d(
        gt_boxes[:, :3],
        gt_boxes[:, 3:6],
        gt_boxes[:, 6],
        origin=[0.5, 0.5, 0.5],
        axis=2)
    gt_surfaces = corner_to_surfaces_3d(gt_box_corners)
    voxel_corners_flat = voxel_corners.reshape([-1, 3])
    ret = points_in_convex_polygon_3d_jit(voxel_corners_flat, gt_surfaces)
    ret = ret.reshape([-1, 8, ret.shape[-1]])
    return ret.any(-1).any(-1).astype(np.int64)
def assign_label_to_voxel_v3 ( gt_boxes , coors , voxel_size , coors_range ) : voxel_size = np . array ( voxel_size , dtype = gt_boxes . dtype ) coors_range = np . array ( coors_range , dtype = gt_boxes . dtype ) shift = coors_range [ : 3 ] voxel_origins = coors [ : , : : - 1 ] * voxel_size + shift voxel_maxes = voxel_origins + voxel_size voxel_minmax = np . concatenate ( [ voxel_origins , voxel_maxes ] , axis = - 1 ) voxel_corners = minmax_to_corner_3d ( voxel_minmax ) gt_box_corners = center_to_corner_box3d ( gt_boxes [ : , : 3 ] , gt_boxes [ : , 3 : 6 ] , gt_boxes [ : , 6 ] , origin = [ 0.5 , 0.5 , 0.5 ] , axis = 2 ) gt_surfaces = corner_to_surfaces_3d ( gt_box_corners ) voxel_corners_flat = voxel_corners . reshape ( [ - 1 , 3 ] ) ret = points_in_convex_polygon_3d_jit ( voxel_corners_flat , gt_surfaces ) ret = ret . reshape ( [ - 1 , 8 , ret . shape [ - 1 ] ] ) return ret . any ( - 1 ) . any ( - 1 ) . astype ( np . int64 )