mmcv.ops.points_in_boxes_part¶
- mmcv.ops.points_in_boxes_part(points: Tensor, boxes: Tensor) Tensor[source]¶
Find the box in which each point is (CUDA/MUSA).
- Parameters:
points (torch.Tensor) – [B, M, 3], [x, y, z] in LiDAR/DEPTH coordinate.
boxes (torch.Tensor) – [B, T, 7], num_valid_boxes <= T, [x, y, z, x_size, y_size, z_size, rz] in LiDAR/DEPTH coordinate, (x, y, z) is the bottom center.
- Returns:
Return the box indices of points with the shape of (B, M). Default background = -1.
- Return type: