def fused_compute_statistics(
    overlaps,
    pr,
    gt_nums,
    dt_nums,
    dc_nums,
    gt_datas,
    dt_datas,
    dontcares,
    ignored_gts,
    ignored_dets,
    min_overlap,
    thresholds,
    compute_angular_metrics=True,
):
    """Compute TP/FP statistics.
    Taken from https://github.com/sshaoehuai/PointRCNN/blob/master/tools/kitti_object_eval_python/eval.py
    without changes to avoid introducing errors"""

    gt_num = 0
    dt_num = 0
    dc_num = 0
    for i in range(gt_nums.shape[0]):
        for t, thresh in enumerate(thresholds):
            # The key line that determines the ordering of the IoU matrix
            overlap = overlaps[dt_num:dt_num + dt_nums[i], gt_num:gt_num + gt_nums[i]]

            gt_data = gt_datas[gt_num:gt_num + gt_nums[i]]
            dt_data = dt_datas[dt_num:dt_num + dt_nums[i]]
            ignored_gt = ignored_gts[gt_num:gt_num + gt_nums[i]]
            ignored_det = ignored_dets[dt_num:dt_num + dt_nums[i]]
            dontcare = dontcares[dc_num:dc_num + dc_nums[i]]
            tp, fp, fn, error_yaw, similarity, _, match_degree, confidence_error, scale_error = \
                compute_statistics_jit(
                    overlap,
                    gt_data,
                    dt_data,
                    ignored_gt,
                    ignored_det,
                    dontcare,
                    min_overlap=min_overlap,
                    thresh=thresh,
                    compute_fp=True,
                    compute_angular_metrics=compute_angular_metrics)
            pr[t, 0] += tp
            pr[t, 1] += fp
            pr[t, 2] += fn
            pr[t, 5] += match_degree
            pr[t, 6] += confidence_error
            pr[t, 7] += scale_error
            if error_yaw != -1:
                pr[t, 3] += error_yaw
            if similarity != -1:
                pr[t, 4] += similarity
        gt_num += gt_nums[i]
        dt_num += dt_nums[i]
        dc_num += dc_nums[i]
Compute TP/FP statistics.
    Taken from https://github.com/sshaoehuai/PointRCNN/blob/master/tools/kitti_object_eval_python/eval.py
    without changes to avoid introducing errors
tridet/evaluators/kitti_3d_evaluator.py