def points_in_boxes()

in threedod/benchmark_scripts/utils/box_utils.py [0:0]

• 21 lines of code
• 2 McCabe index (conditional complexity)

def points_in_boxes(points, boxes):
    """
    Args:
        pc: np.array (n, 3+d)
        boxes: np.array (m, 8, 3)
    Returns:
        mask: np.array (n, m) of type bool
    """
    if len(boxes) == 0:
        return np.zeros([points.shape[0], 1], dtype=np.bool)
    points = points[:, :3]  # get xyz
    # u = p6 - p5
    u = boxes[:, 6, :] - boxes[:, 5, :]  # (m, 3)
    # v = p6 - p7
    v = boxes[:, 6, :] - boxes[:, 7, :]  # (m, 3)
    # w = p6 - p2
    w = boxes[:, 6, :] - boxes[:, 2, :]  # (m, 3)

    # ux, vx, wx
    ux = np.matmul(points, u.T)  # (n, m)
    vx = np.matmul(points, v.T)
    wx = np.matmul(points, w.T)

    # up6, up5, vp6, vp7, wp6, wp2
    up6 = np.sum(u * boxes[:, 6, :], axis=1)
    up5 = np.sum(u * boxes[:, 5, :], axis=1)
    vp6 = np.sum(v * boxes[:, 6, :], axis=1)
    vp7 = np.sum(v * boxes[:, 7, :], axis=1)
    wp6 = np.sum(w * boxes[:, 6, :], axis=1)
    wp2 = np.sum(w * boxes[:, 2, :], axis=1)

    mask_u = np.logical_and(ux <= up6, ux >= up5)  # (1024, n)
    mask_v = np.logical_and(vx <= vp6, vx >= vp7)
    mask_w = np.logical_and(wx <= wp6, wx >= wp2)

    mask = mask_u & mask_v & mask_w  # (10240, n)

    return mask