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[Fix] Fix iou3d in parrots #2054

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merged 1 commit into from
Jun 10, 2022
Merged

[Fix] Fix iou3d in parrots #2054

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30 changes: 15 additions & 15 deletions mmcv/ops/csrc/parrots/cudabind.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -564,11 +564,11 @@ REGISTER_DEVICE_IMPL(group_points_forward_impl, CUDA,
REGISTER_DEVICE_IMPL(group_points_backward_impl, CUDA,
group_points_backward_cuda);

void IoU3DBoxesIoU3DForwardCUDAKernelLauncher(const int num_a,
const Tensor boxes_a,
const int num_b,
const Tensor boxes_b,
Tensor ans_iou);
void IoU3DBoxesOverlapBevForwardCUDAKernelLauncher(const int num_a,
const Tensor boxes_a,
const int num_b,
const Tensor boxes_b,
Tensor ans_overlap);

void IoU3DNMS3DForwardCUDAKernelLauncher(const Tensor boxes,
unsigned long long* mask,
Expand All @@ -580,11 +580,11 @@ void IoU3DNMS3DNormalForwardCUDAKernelLauncher(const Tensor boxes,
int boxes_num,
float nms_overlap_thresh);

void iou3d_boxes_iou3d_forward_cuda(const int num_a, const Tensor boxes_a,
const int num_b, const Tensor boxes_b,
Tensor ans_iou) {
IoU3DBoxesIoU3DForwardCUDAKernelLauncher(num_a, boxes_a, num_b, boxes_b,
ans_iou);
void iou3d_boxes_overlap_bev_forward_cuda(const int num_a, const Tensor boxes_a,
const int num_b, const Tensor boxes_b,
Tensor ans_overlap) {
IoU3DBoxesOverlapBevForwardCUDAKernelLauncher(num_a, boxes_a, num_b, boxes_b,
ans_overlap);
};

void iou3d_nms3d_forward_cuda(const Tensor boxes, unsigned long long* mask,
Expand All @@ -600,9 +600,9 @@ void iou3d_nms3d_normal_forward_cuda(const Tensor boxes,
nms_overlap_thresh);
};

void iou3d_boxes_iou3d_forward_impl(const int num_a, const Tensor boxes_a,
const int num_b, const Tensor boxes_b,
Tensor ans_iou);
void iou3d_boxes_overlap_bev_forward_impl(const int num_a, const Tensor boxes_a,
const int num_b, const Tensor boxes_b,
Tensor ans_overlap);

void iou3d_nms3d_forward_impl(const Tensor boxes, unsigned long long* mask,
int boxes_num, float nms_overlap_thresh);
Expand All @@ -611,8 +611,8 @@ void iou3d_nms3d_normal_forward_impl(const Tensor boxes,
unsigned long long* mask, int boxes_num,
float nms_overlap_thresh);

REGISTER_DEVICE_IMPL(iou3d_boxes_iou3d_forward_impl, CUDA,
iou3d_boxes_iou3d_forward_cuda);
REGISTER_DEVICE_IMPL(iou3d_boxes_overlap_bev_forward_impl, CUDA,
iou3d_boxes_overlap_bev_forward_cuda);
REGISTER_DEVICE_IMPL(iou3d_nms3d_forward_impl, CUDA, iou3d_nms3d_forward_cuda);
REGISTER_DEVICE_IMPL(iou3d_nms3d_normal_forward_impl, CUDA,
iou3d_nms3d_normal_forward_cuda);
Expand Down
16 changes: 9 additions & 7 deletions mmcv/ops/csrc/parrots/iou3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,11 +12,11 @@ All Rights Reserved 2019-2020.

const int THREADS_PER_BLOCK_NMS = sizeof(unsigned long long) * 8;

void iou3d_boxes_iou3d_forward_impl(const int num_a, const Tensor boxes_a,
const int num_b, const Tensor boxes_b,
Tensor ans_iou) {
DISPATCH_DEVICE_IMPL(iou3d_boxes_iou3d_forward_impl, num_a, boxes_a, num_b,
boxes_b, ans_iou);
void iou3d_boxes_overlap_bev_forward_impl(const int num_a, const Tensor boxes_a,
const int num_b, const Tensor boxes_b,
Tensor ans_overlap) {
DISPATCH_DEVICE_IMPL(iou3d_boxes_overlap_bev_forward_impl, num_a, boxes_a,
num_b, boxes_b, ans_overlap);
}

void iou3d_nms3d_forward_impl(const Tensor boxes, unsigned long long *mask,
Expand All @@ -32,14 +32,16 @@ void iou3d_nms3d_normal_forward_impl(const Tensor boxes,
nms_overlap_thresh);
}

void iou3d_boxes_iou3d_forward(Tensor boxes_a, Tensor boxes_b, Tensor ans_iou) {
void iou3d_boxes_overlap_bev_forward(Tensor boxes_a, Tensor boxes_b,
Tensor ans_overlap) {
// params boxes: (N, 7) [x, y, z, dx, dy, dz, heading]
// params boxes_b: (M, 5)
// params ans_overlap: (N, M)
int num_a = boxes_a.size(0);
int num_b = boxes_b.size(0);

iou3d_boxes_iou3d_forward_impl(num_a, boxes_a, num_b, boxes_b, ans_iou);
iou3d_boxes_overlap_bev_forward_impl(num_a, boxes_a, num_b, boxes_b,
ans_overlap);
}

void iou3d_nms3d_forward(Tensor boxes, Tensor keep, Tensor keep_num,
Expand Down
13 changes: 6 additions & 7 deletions mmcv/ops/csrc/parrots/iou3d_parrots.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,16 +8,15 @@
using namespace parrots;

#ifdef MMCV_WITH_CUDA
void iou3d_boxes_iou3d_forward_cuda_parrots(CudaContext& ctx,
const SSElement& attr,
const OperatorBase::in_list_t& ins,
OperatorBase::out_list_t& outs) {
void iou3d_boxes_overlap_bev_forward_cuda_parrots(
CudaContext& ctx, const SSElement& attr, const OperatorBase::in_list_t& ins,
OperatorBase::out_list_t& outs) {
auto boxes_a = buildATensor(ctx, ins[0]);
auto boxes_b = buildATensor(ctx, ins[1]);

auto ans_iou = buildATensor(ctx, outs[0]);

iou3d_boxes_iou3d_forward(boxes_a, boxes_b, ans_iou);
iou3d_boxes_overlap_bev_forward(boxes_a, boxes_b, ans_iou);
}

void iou3d_nms3d_forward_cuda_parrots(CudaContext& ctx, const SSElement& attr,
Expand Down Expand Up @@ -49,10 +48,10 @@ void iou3d_nms3d_normal_forward_cuda_parrots(CudaContext& ctx,
iou3d_nms3d_normal_forward(boxes, keep, keep_num, nms_overlap_thresh);
}

PARROTS_EXTENSION_REGISTER(iou3d_boxes_iou3d_forward)
PARROTS_EXTENSION_REGISTER(iou3d_boxes_overlap_bev_forward)
.input(2)
.output(1)
.apply(iou3d_boxes_iou3d_forward_cuda_parrots)
.apply(iou3d_boxes_overlap_bev_forward_cuda_parrots)
.done();

PARROTS_EXTENSION_REGISTER(iou3d_nms3d_forward)
Expand Down
3 changes: 2 additions & 1 deletion mmcv/ops/csrc/parrots/iou3d_pytorch.h
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,8 @@
#include <torch/extension.h>
using namespace at;

void iou3d_boxes_iou3d_forward(Tensor boxes_a, Tensor boxes_b, Tensor ans_iou);
void iou3d_boxes_overlap_bev_forward(Tensor boxes_a, Tensor boxes_b,
Tensor ans_overlap);

void iou3d_nms3d_forward(Tensor boxes, Tensor keep, Tensor keep_num,
float nms_overlap_thresh);
Expand Down