def boxes_iou_bev(boxes_a, boxes_b):
    """Calculate boxes IoU in the Bird's Eye View.

    Args:
        boxes_a (torch.Tensor): Input boxes a with shape (M, 5).
        boxes_b (torch.Tensor): Input boxes b with shape (N, 5).

    Returns:
        ans_iou (torch.Tensor): IoU result with shape (M, N).
    """
    ans_iou = boxes_a.new_zeros(
        torch.Size((boxes_a.shape[0], boxes_b.shape[0])))

    ext_module.iou3d_boxes_iou_bev_forward(boxes_a.contiguous(),
                                           boxes_b.contiguous(), ans_iou)

    return ans_iou
Calculate boxes IoU in the Bird's Eye View.

    Args:
        boxes_a (torch.Tensor): Input boxes a with shape (M, 5).
        boxes_b (torch.Tensor): Input boxes b with shape (N, 5).

    Returns:
        ans_iou (torch.Tensor): IoU result with shape (M, N).
    
ControlNet-v1-1-nightly/annotator/uniformer/mmcv/ops/iou3d.py