Currently box_utils does not support batching, while other utils do. I.e. to test points within boxes, one must create a polar image, then pointcloud, then test the boxes. Both polar and pointcloud conversion operators support batching while box utils do not. The current solutions or batch size of 1 or perform an unbatch operation before testing boxes, both of which affect performance.
This seems like a simple change I'd be willing to contribute, but I need to figure out how the einsum operation works and how to modify it.
peisun1115
commented
3 years ago
Currently box_utils does not support batching, while other utils do. I.e. to test points within boxes, one must create a polar image, then pointcloud, then test the boxes. Both polar and pointcloud conversion operators support batching while box utils do not. The current solutions or batch size of 1 or perform an unbatch operation before testing boxes, both of which affect performance.
This seems like a simple change I'd be willing to contribute, but I need to figure out how the einsum operation works and how to modify it.