code: 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
  
imports: import torch
  from ..utils import ext_loader
label_desc: Use image node_id 1 for calling a global function with example usage: boxes_iou_bev(boxes_a, boxes_b) and returns: ans_iou