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from typing import Union |
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import torch |
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from torch import Tensor |
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from mmdet3d.registry import TASK_UTILS |
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@TASK_UTILS.register_module() |
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class BBox3DL1Cost(object): |
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"""BBox3DL1Cost. |
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Args: |
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weight (Union[float, int]): Cost weight. Defaults to 1. |
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""" |
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def __init__(self, weight: Union[float, int] = 1.): |
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self.weight = weight |
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def __call__(self, bbox_pred: Tensor, gt_bboxes: Tensor) -> Tensor: |
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"""Compute match cost. |
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Args: |
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bbox_pred (Tensor): Predicted boxes with normalized coordinates |
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(cx,cy,l,w,cz,h,sin(φ),cos(φ),v_x,v_y) |
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which are all in range [0, 1] and shape [num_query, 10]. |
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gt_bboxes (Tensor): Ground truth boxes with `normalized` |
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coordinates (cx,cy,l,w,cz,h,sin(φ),cos(φ),v_x,v_y). |
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Shape [num_gt, 10]. |
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Returns: |
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Tensor: Match Cost matrix of shape (num_preds, num_gts). |
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""" |
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bbox_cost = torch.cdist(bbox_pred, gt_bboxes, p=1) |
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return bbox_cost * self.weight |
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