计算3D目标框的NMS

3D障碍物目标框（中心点坐标XYZ、长宽高lwh、朝向角theta）的非极大值抑制

#include 
#include 
#include 
#include 

// 定义3D目标框的结构体
struct BoundingBox3D
{
   
    double centerX, centerY, centerZ; // 中心点坐标
    double length, width, height;     // 长宽高
    double theta;                     // 朝向角
    double score;                     // 目标框得分

    BoundingBox3D(double x, double y, double z, double l, double w, double h, double t, double s)
        : centerX(x), centerY(y), centerZ(z), length(l), width(w), height(h), theta(t), score(s) {
   }
};

class NMS3D
{
   
public:
    // 构造函数，传入IoU阈值
    NMS3D(double iouThreshold) : iouThreshold_(iouThreshold) {
   }

    // 执行NMS
    std::vector<BoundingBox3D> executeNMS(const std::vector<BoundingBox3D> &boxes)
    {
   
        std::vector<BoundingBox3D> resultBoxes;

        // 按得分降序排序
        std::vector<BoundingBox3D> sortedBoxes = sortBoxesByScore(boxes);

        // 遍历排序后的框
        while (!sortedBoxes.empty())
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38