error in jaccard_index_3d?

[nywenjing]

Is it wrong in this code for jaccard_index_3d? inter_area = polygon_area(intersection_points) zmax = np.minimum(a.cz, b.cz) //this is center zmin = np.maximum(a.cz - a.h, b.cz - b.h) //what is the point?

I think it should be zmax = np.minimum(a.cz + 0.5 * a.h, b.cz + 0.5 * a.h) //upper bound zmin = np.maximum(a.cz - 0.5 * a.h, b.cz - 0.5 * b.h) //lower bound For example,

a = bbox.BBox3D(0,0,0,1,1,2) b = bbox.BBox3D(0,0,-2.0,1,1,2.4) jaccard_index_3d(a,b) 0.0

How ever, z range for a is [-1,1] z range for b is [-3.2,-0.8] There must be a intersection, which means iou should not be 0. Is my calculation wrong?

[varunagrawal]

Hey! Thanks for reporting this. Let me take a look at it and visualize your boxes later this week and get back to you.

Note that I follow the convention from KITTI where I just assume that the boxes are on the same z-axis level and can rotate around the z-axis.

[bokunobaka]

Any update on this?