def nms_3d_faster()

in utils/nms.py [0:0]

• 31 lines of code
• 3 McCabe index (conditional complexity)

def nms_3d_faster(boxes, overlap_threshold, old_type=False):
    x1 = boxes[:,0]
    y1 = boxes[:,1]
    z1 = boxes[:,2]
    x2 = boxes[:,3]
    y2 = boxes[:,4]
    z2 = boxes[:,5]
    score = boxes[:,6]
    area = (x2-x1)*(y2-y1)*(z2-z1)

    I = np.argsort(score)
    pick = []
    while (I.size!=0):
        last = I.size
        i = I[-1]
        pick.append(i)

        xx1 = np.maximum(x1[i], x1[I[:last-1]])
        yy1 = np.maximum(y1[i], y1[I[:last-1]])
        zz1 = np.maximum(z1[i], z1[I[:last-1]])
        xx2 = np.minimum(x2[i], x2[I[:last-1]])
        yy2 = np.minimum(y2[i], y2[I[:last-1]])
        zz2 = np.minimum(z2[i], z2[I[:last-1]])

        l = np.maximum(0, xx2-xx1)
        w = np.maximum(0, yy2-yy1)
        h = np.maximum(0, zz2-zz1)

        if old_type:
            o = (l*w*h)/area[I[:last-1]]
        else:
            inter = l*w*h
            o = inter / (area[i] + area[I[:last-1]] - inter)

        I = np.delete(I, np.concatenate(([last-1], np.where(o>overlap_threshold)[0])))

    return pick