Validate 3D metrics

[Anirudh-Scale]

Added 3D IOU, BEV 2D IOU, and recall, precision metrics. Tested end-to-end with celery in models repo (see associated PR there).

[pfmark]

@gatli didn't we run into problems with Shapely at some point?

[gatli]

Yup, we can't use it. It doesn't have wide enough binary support.

[pfmark]

So what should we do about this? @Anirudh-Scale how much do we rely in the shapely dependency? Any chance we can get around this? If not, @gatli how can we still make this work?

[Anirudh-Scale]

@pfmark I can implement a function to calculate the area intersection without Shapely, it's just going to be significantly slower. If that's a trade-off we're ok with, I can do that.

[phil-scale]

There's already a function for polygon area intersection in the directory under geometry.py. I'd suggest using that since it looks like you're using shapely only for polygon intersection area.

Edit: it looks like the native polygon was used originally before changing to shapely? The native polygon intersection function is quite slow since it's written in Python, but there's a speed up for convex polygons

[pfmark]

few smaller comments. In addition, do we have a way of easily testing the correctness of the metrics in a test unit test? I think that would be great!

[harish-kamath]

This argument (and maybe confidence_threshold?) should be required in the constructor, and if we want to set defaults then set them in the child classes.