(boxes, qboxes, criterion=-1, z_axis=1, z_center=1.0)
return rinc
kitti camera format z_axis=1.
kitti camera format z_axis=1.
kitti camera format z_axis = 1 .
def box3d_overlap(boxes, qboxes, criterion=-1, z_axis=1, z_center=1.0):
    """kitti camera format z_axis=1.
    """
    bev_axes = list(range(7))
    bev_axes.pop(z_axis + 3)
    bev_axes.pop(z_axis)
    
    # t = time.time()
    # rinc = box_np_ops.rinter_cc(boxes[:, bev_axes], qboxes[:, bev_axes])
    rinc = rotate_iou_gpu_eval(boxes[:, bev_axes], qboxes[:, bev_axes], 2)
    # print("riou time", time.time() - t)
    box3d_overlap_kernel(boxes, qboxes, rinc, criterion, z_axis, z_center)
    return rinc
def box3d_overlap ( boxes , qboxes , criterion = - 1 , z_axis = 1 , z_center = 1.0 ) : bev_axes = list ( range ( 7 ) ) bev_axes . pop ( z_axis + 3 ) bev_axes . pop ( z_axis ) # t = time.time() # rinc = box_np_ops.rinter_cc(boxes[:, bev_axes], qboxes[:, bev_axes]) rinc = rotate_iou_gpu_eval ( boxes [ : , bev_axes ] , qboxes [ : , bev_axes ] , 2 ) # print("riou time", time.time() - t) box3d_overlap_kernel ( boxes , qboxes , rinc , criterion , z_axis , z_center ) return rinc