下载资源人工智能资源详情
mmdet3d.zip
大小:32.39MB
价格:22积分
下载量:0
评分:
5.0
上传者:Junano
更新日期:2025-09-22

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资源文件列表(大概)

文件名
大小
mmdet3d/
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mmdet3d/apis/
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mmdet3d/apis/inference.py
16.33KB
mmdet3d/apis/test.py
8.43KB
mmdet3d/apis/train.py
6.79KB
mmdet3d/apis/__init__.py
605B
mmdet3d/apis/__pycache__/
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mmdet3d/apis/__pycache__/inference.cpython-38.pyc
10.63KB
mmdet3d/apis/__pycache__/test.cpython-38.pyc
5.86KB
mmdet3d/apis/__pycache__/train.cpython-38.pyc
4.14KB
mmdet3d/apis/__pycache__/__init__.cpython-38.pyc
562B
mmdet3d/core/
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mmdet3d/core/anchor/
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mmdet3d/core/anchor/anchor_3d_generator.py
16.79KB
mmdet3d/core/anchor/__init__.py
441B
mmdet3d/core/anchor/__pycache__/
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mmdet3d/core/anchor/__pycache__/anchor_3d_generator.cpython-38.pyc
12.62KB
mmdet3d/core/anchor/__pycache__/__init__.cpython-38.pyc
396B
mmdet3d/core/bbox/
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mmdet3d/core/bbox/assigners/
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mmdet3d/core/bbox/assigners/hungarian_assigner_3d.py
10.21KB
mmdet3d/core/bbox/assigners/match_cost.py
1.35KB
mmdet3d/core/bbox/assigners/__init__.py
245B
mmdet3d/core/bbox/assigners/__pycache__/
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mmdet3d/core/bbox/assigners/__pycache__/match_cost.cpython-38.pyc
1.97KB
mmdet3d/core/bbox/assigners/__pycache__/__init__.cpython-38.pyc
300B
mmdet3d/core/bbox/box_np_ops.py
32.75KB
mmdet3d/core/bbox/coders/
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mmdet3d/core/bbox/coders/anchor_free_bbox_coder.py
4.26KB
mmdet3d/core/bbox/coders/centerpoint_bbox_coders.py
8.39KB
mmdet3d/core/bbox/coders/delta_xyzwhlr_bbox_coder.py
3.06KB
mmdet3d/core/bbox/coders/groupfree3d_bbox_coder.py
7.03KB
mmdet3d/core/bbox/coders/partial_bin_based_bbox_coder.py
8.93KB
mmdet3d/core/bbox/coders/__init__.py
557B
mmdet3d/core/bbox/coders/__pycache__/
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mmdet3d/core/bbox/coders/__pycache__/anchor_free_bbox_coder.cpython-38.pyc
3.62KB
mmdet3d/core/bbox/coders/__pycache__/centerpoint_bbox_coders.cpython-38.pyc
6.41KB
mmdet3d/core/bbox/coders/__pycache__/delta_xyzwhlr_bbox_coder.cpython-38.pyc
3.33KB
mmdet3d/core/bbox/coders/__pycache__/groupfree3d_bbox_coder.cpython-38.pyc
5.08KB
mmdet3d/core/bbox/coders/__pycache__/partial_bin_based_bbox_coder.cpython-38.pyc
6.98KB
mmdet3d/core/bbox/coders/__pycache__/__init__.cpython-38.pyc
607B
mmdet3d/core/bbox/iou_calculators/
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mmdet3d/core/bbox/iou_calculators/iou3d_calculator.py
12.95KB
mmdet3d/core/bbox/iou_calculators/__init__.py
492B
mmdet3d/core/bbox/iou_calculators/__pycache__/
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mmdet3d/core/bbox/iou_calculators/__pycache__/iou3d_calculator.cpython-38.pyc
11.38KB
mmdet3d/core/bbox/iou_calculators/__pycache__/__init__.cpython-38.pyc
432B
mmdet3d/core/bbox/samplers/
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mmdet3d/core/bbox/samplers/iou_neg_piecewise_sampler.py
6.7KB
mmdet3d/core/bbox/samplers/__init__.py
648B
mmdet3d/core/bbox/samplers/__pycache__/
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mmdet3d/core/bbox/samplers/__pycache__/iou_neg_piecewise_sampler.cpython-38.pyc
4.52KB
mmdet3d/core/bbox/samplers/__pycache__/__init__.cpython-38.pyc
554B
mmdet3d/core/bbox/structures/
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mmdet3d/core/bbox/structures/base_box3d.py
16.12KB
mmdet3d/core/bbox/structures/box_3d_mode.py
5.89KB
mmdet3d/core/bbox/structures/cam_box3d.py
12.42KB
mmdet3d/core/bbox/structures/coord_3d_mode.py
10.67KB
mmdet3d/core/bbox/structures/depth_box3d.py
13.35KB
mmdet3d/core/bbox/structures/lidar_box3d.py
10.28KB
mmdet3d/core/bbox/structures/utils.py
7.75KB
mmdet3d/core/bbox/structures/__init__.py
737B
mmdet3d/core/bbox/structures/__pycache__/
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mmdet3d/core/bbox/structures/__pycache__/base_box3d.cpython-38.pyc
16.02KB
mmdet3d/core/bbox/structures/__pycache__/box_3d_mode.cpython-38.pyc
4.5KB
mmdet3d/core/bbox/structures/__pycache__/cam_box3d.cpython-38.pyc
10.73KB
mmdet3d/core/bbox/structures/__pycache__/coord_3d_mode.cpython-38.pyc
7.37KB
mmdet3d/core/bbox/structures/__pycache__/depth_box3d.cpython-38.pyc
11.4KB
mmdet3d/core/bbox/structures/__pycache__/lidar_box3d.cpython-38.pyc
9.4KB
mmdet3d/core/bbox/structures/__pycache__/utils.cpython-38.pyc
6.54KB
mmdet3d/core/bbox/structures/__pycache__/__init__.cpython-38.pyc
775B
mmdet3d/core/bbox/transforms.py
2.36KB
mmdet3d/core/bbox/__init__.py
1.69KB
mmdet3d/core/bbox/__pycache__/
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mmdet3d/core/bbox/__pycache__/box_np_ops.cpython-38.pyc
27.54KB
mmdet3d/core/bbox/__pycache__/transforms.cpython-38.pyc
2.36KB
mmdet3d/core/bbox/__pycache__/__init__.cpython-38.pyc
1.41KB
mmdet3d/core/evaluation/
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mmdet3d/core/evaluation/indoor_eval.py
10.83KB
mmdet3d/core/evaluation/kitti_utils/
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mmdet3d/core/evaluation/kitti_utils/eval.py
32.78KB
mmdet3d/core/evaluation/kitti_utils/rotate_iou.py
13KB
mmdet3d/core/evaluation/kitti_utils/__init__.py
151B
mmdet3d/core/evaluation/kitti_utils/__pycache__/
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mmdet3d/core/evaluation/kitti_utils/__pycache__/eval.cpython-38.pyc
19.52KB
mmdet3d/core/evaluation/kitti_utils/__pycache__/__init__.cpython-38.pyc
240B
mmdet3d/core/evaluation/lyft_eval.py
10.11KB
mmdet3d/core/evaluation/seg_eval.py
3.66KB
mmdet3d/core/evaluation/waymo_utils/
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mmdet3d/core/evaluation/waymo_utils/prediction_kitti_to_waymo.py
9.47KB
mmdet3d/core/evaluation/__init__.py
309B
mmdet3d/core/evaluation/__pycache__/
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mmdet3d/core/evaluation/__pycache__/indoor_eval.cpython-38.pyc
8.61KB
mmdet3d/core/evaluation/__pycache__/lyft_eval.cpython-38.pyc
8.13KB
mmdet3d/core/evaluation/__pycache__/seg_eval.cpython-38.pyc
3.43KB
mmdet3d/core/evaluation/__pycache__/__init__.cpython-38.pyc
363B
mmdet3d/core/points/
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mmdet3d/core/points/base_points.py
16.26KB
mmdet3d/core/points/cam_points.py
2.8KB
mmdet3d/core/points/depth_points.py
2.8KB
mmdet3d/core/points/lidar_points.py
2.8KB
mmdet3d/core/points/__init__.py
921B
mmdet3d/core/points/__pycache__/
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mmdet3d/core/points/__pycache__/base_points.cpython-38.pyc
13.52KB
mmdet3d/core/points/__pycache__/cam_points.cpython-38.pyc
3.12KB
mmdet3d/core/points/__pycache__/depth_points.cpython-38.pyc
3.12KB
mmdet3d/core/points/__pycache__/lidar_points.cpython-38.pyc
3.12KB
mmdet3d/core/points/__pycache__/__init__.cpython-38.pyc
910B
mmdet3d/core/post_processing/
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mmdet3d/core/post_processing/box3d_nms.py
13.64KB
mmdet3d/core/post_processing/merge_augs.py
3.56KB
mmdet3d/core/post_processing/__init__.py
514B
mmdet3d/core/post_processing/__pycache__/
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mmdet3d/core/post_processing/__pycache__/box3d_nms.cpython-38.pyc
2.68KB
mmdet3d/core/post_processing/__pycache__/merge_augs.cpython-38.pyc
251B
mmdet3d/core/post_processing/__pycache__/__init__.cpython-38.pyc
460B
mmdet3d/core/utils/
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mmdet3d/core/utils/gaussian.py
2.48KB
mmdet3d/core/utils/__init__.py
193B
mmdet3d/core/utils/__pycache__/
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mmdet3d/core/utils/__pycache__/gaussian.cpython-38.pyc
2.54KB
mmdet3d/core/utils/__pycache__/__init__.cpython-38.pyc
261B
mmdet3d/core/visualizer/
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mmdet3d/core/visualizer/image_vis.py
8KB
mmdet3d/core/visualizer/open3d_vis.py
17.31KB
mmdet3d/core/visualizer/show_result.py
9.99KB
mmdet3d/core/visualizer/__init__.py
234B
mmdet3d/core/visualizer/__pycache__/
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mmdet3d/core/visualizer/__pycache__/image_vis.cpython-38.pyc
6.48KB
mmdet3d/core/visualizer/__pycache__/open3d_vis.cpython-38.pyc
13.2KB
mmdet3d/core/visualizer/__pycache__/show_result.cpython-38.pyc
7.39KB
mmdet3d/core/visualizer/__pycache__/__init__.cpython-38.pyc
261B
mmdet3d/core/voxel/
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mmdet3d/core/voxel/builder.py
484B
mmdet3d/core/voxel/voxel_generator.py
11.2KB
mmdet3d/core/voxel/__init__.py
190B
mmdet3d/core/voxel/__pycache__/
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mmdet3d/core/voxel/__pycache__/builder.cpython-38.pyc
565B
mmdet3d/core/voxel/__pycache__/voxel_generator.cpython-38.pyc
8.33KB
mmdet3d/core/voxel/__pycache__/__init__.cpython-38.pyc
259B
mmdet3d/core/__init__.py
397B
mmdet3d/core/__pycache__/
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mmdet3d/core/__pycache__/__init__.cpython-38.pyc
279B
mmdet3d/datasets/
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mmdet3d/datasets/builder.py
1.93KB
mmdet3d/datasets/custom_3d.py
13.1KB
mmdet3d/datasets/custom_3d_seg.py
15.98KB
mmdet3d/datasets/dataset_wrappers.py
6.66KB
mmdet3d/datasets/internal_dataset.py
26.79KB
mmdet3d/datasets/kitti2d_dataset.py
8.54KB
mmdet3d/datasets/kitti_dataset.py
30.27KB
mmdet3d/datasets/kitti_mono_dataset.py
22.62KB
mmdet3d/datasets/lyft_dataset.py
21.51KB
mmdet3d/datasets/nuscenes_dataset.py
37.47KB
mmdet3d/datasets/nuscenes_monocular_dataset.py
14.06KB
mmdet3d/datasets/nuscenes_monocular_dataset_map_2.py
14.64KB
mmdet3d/datasets/nuscenes_mono_dataset.py
31.94KB
mmdet3d/datasets/pipelines/
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mmdet3d/datasets/pipelines/data_augment_utils.py
16.63KB
mmdet3d/datasets/pipelines/dbsampler.py
11.29KB
mmdet3d/datasets/pipelines/formating.py
11.15KB
mmdet3d/datasets/pipelines/loading.py
41.08KB
mmdet3d/datasets/pipelines/multi_view.py
5.75KB
mmdet3d/datasets/pipelines/test_time_aug.py
5.36KB
mmdet3d/datasets/pipelines/transforms_3d.py
77.53KB
mmdet3d/datasets/pipelines/__init__.py
1.91KB
mmdet3d/datasets/pipelines/__pycache__/
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mmdet3d/datasets/pipelines/__pycache__/data_augment_utils.cpython-38.pyc
10.61KB
mmdet3d/datasets/pipelines/__pycache__/dbsampler.cpython-38.pyc
9.76KB
mmdet3d/datasets/pipelines/__pycache__/formating.cpython-38.pyc
9.6KB
mmdet3d/datasets/pipelines/__pycache__/loading.cpython-38.pyc
29.69KB
mmdet3d/datasets/pipelines/__pycache__/multi_view.cpython-38.pyc
5.63KB
mmdet3d/datasets/pipelines/__pycache__/test_time_aug.cpython-38-pytest-7.4.0.pyc
5.35KB
mmdet3d/datasets/pipelines/__pycache__/test_time_aug.cpython-38.pyc
4.1KB
mmdet3d/datasets/pipelines/__pycache__/transforms_3d.cpython-38.pyc
60.93KB
mmdet3d/datasets/pipelines/__pycache__/__init__.cpython-38.pyc
1.63KB
mmdet3d/datasets/s3dis_dataset.py
16.76KB
mmdet3d/datasets/scannet_dataset.py
17.52KB
mmdet3d/datasets/semantickitti_dataset.py
3.07KB
mmdet3d/datasets/sunrgbd_dataset.py
10.73KB
mmdet3d/datasets/utils.py
5.63KB
mmdet3d/datasets/waymo_dataset.py
22.55KB
mmdet3d/datasets/__init__.py
2.38KB
mmdet3d/datasets/__pycache__/
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mmdet3d/datasets/__pycache__/builder.cpython-38.pyc
1.69KB
mmdet3d/datasets/__pycache__/custom_3d.cpython-38.pyc
12.48KB
mmdet3d/datasets/__pycache__/custom_3d_seg.cpython-38.pyc
14.41KB
mmdet3d/datasets/__pycache__/dataset_wrappers.cpython-38.pyc
6.88KB
mmdet3d/datasets/__pycache__/internal_dataset.cpython-38.pyc
16.12KB
mmdet3d/datasets/__pycache__/kitti_dataset.cpython-38.pyc
21.33KB
mmdet3d/datasets/__pycache__/kitti_mono_dataset.cpython-38.pyc
14.63KB
mmdet3d/datasets/__pycache__/lyft_dataset.cpython-38.pyc
16.71KB
mmdet3d/datasets/__pycache__/nuscenes_dataset.cpython-38.pyc
23.36KB
mmdet3d/datasets/__pycache__/nuscenes_monocular_dataset.cpython-38.pyc
9.94KB
mmdet3d/datasets/__pycache__/nuscenes_monocular_dataset_map_2.cpython-38.pyc
9.9KB
mmdet3d/datasets/__pycache__/nuscenes_mono_dataset.cpython-38.pyc
23.4KB
mmdet3d/datasets/__pycache__/s3dis_dataset.cpython-38.pyc
14.53KB
mmdet3d/datasets/__pycache__/scannet_dataset.cpython-38.pyc
14.08KB
mmdet3d/datasets/__pycache__/semantickitti_dataset.cpython-38.pyc
2.92KB
mmdet3d/datasets/__pycache__/sunrgbd_dataset.cpython-38.pyc
8.52KB
mmdet3d/datasets/__pycache__/utils.cpython-38.pyc
4.62KB
mmdet3d/datasets/__pycache__/waymo_dataset.cpython-38.pyc
15.29KB
mmdet3d/datasets/__pycache__/__init__.cpython-38.pyc
2.18KB
mmdet3d/models/
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mmdet3d/models/backbones/
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mmdet3d/models/backbones/base_pointnet.py
1.3KB
mmdet3d/models/backbones/dla.py
11.68KB
mmdet3d/models/backbones/efficient.py
14.28KB
mmdet3d/models/backbones/multi_backbone.py
4.6KB
mmdet3d/models/backbones/nostem_regnet.py
3.27KB
mmdet3d/models/backbones/pointnet2_sa_msg.py
6.97KB
mmdet3d/models/backbones/pointnet2_sa_ssg.py
5.43KB
mmdet3d/models/backbones/second.py
3.17KB
mmdet3d/models/backbones/swin_transformer.py
23.75KB
mmdet3d/models/backbones/vovnet.py
11.43KB
mmdet3d/models/backbones/__init__.py
624B
mmdet3d/models/backbones/__pycache__/
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mmdet3d/models/backbones/__pycache__/base_pointnet.cpython-38.pyc
1.58KB
mmdet3d/models/backbones/__pycache__/efficient.cpython-38.pyc
10.03KB
mmdet3d/models/backbones/__pycache__/efficientnet.cpython-38.pyc
10.14KB
mmdet3d/models/backbones/__pycache__/multi_backbone.cpython-38.pyc
3.64KB
mmdet3d/models/backbones/__pycache__/nostem_regnet.cpython-38.pyc
3.68KB
mmdet3d/models/backbones/__pycache__/pointnet2_sa_msg.cpython-38.pyc
5.08KB
mmdet3d/models/backbones/__pycache__/pointnet2_sa_ssg.cpython-38.pyc
4.28KB
mmdet3d/models/backbones/__pycache__/second.cpython-38.pyc
2.6KB
mmdet3d/models/backbones/__pycache__/swin_transformer.cpython-38.pyc
18.89KB
mmdet3d/models/backbones/__pycache__/vovnet.cpython-38.pyc
8.17KB
mmdet3d/models/backbones/__pycache__/__init__.cpython-38.pyc
796B
mmdet3d/models/builder.py
2.87KB
mmdet3d/models/decode_heads/
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mmdet3d/models/decode_heads/bev_decoder_head.py
10.27KB
mmdet3d/models/decode_heads/bev_fcn_head.py
5.7KB
mmdet3d/models/decode_heads/decode_head.py
4.27KB
mmdet3d/models/decode_heads/paconv_head.py
2.18KB
mmdet3d/models/decode_heads/pointnet2_head.py
2.83KB
mmdet3d/models/decode_heads/__init__.py
230B
mmdet3d/models/decode_heads/__pycache__/
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mmdet3d/models/decode_heads/__pycache__/bev_decoder_head.cpython-38.pyc
9.24KB
mmdet3d/models/decode_heads/__pycache__/bev_fcn_head.cpython-38.pyc
4.26KB
mmdet3d/models/decode_heads/__pycache__/decode_head.cpython-38.pyc
4.42KB
mmdet3d/models/decode_heads/__pycache__/paconv_head.cpython-38.pyc
1.87KB
mmdet3d/models/decode_heads/__pycache__/pointnet2_head.cpython-38.pyc
2.61KB
mmdet3d/models/decode_heads/__pycache__/__init__.cpython-38.pyc
316B
mmdet3d/models/dense_heads/
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mmdet3d/models/dense_heads/anchor3d_head.py
30.66KB
mmdet3d/models/dense_heads/anchor_free_mono3d_head.py
21.01KB
mmdet3d/models/dense_heads/base_conv_bbox_head.py
4.3KB
mmdet3d/models/dense_heads/base_mono3d_dense_head.py
3.08KB
mmdet3d/models/dense_heads/centerpoint_head.py
33.94KB
mmdet3d/models/dense_heads/fcos_mono3d_head.py
41.43KB
mmdet3d/models/dense_heads/free_anchor3d_head.py
11.98KB
mmdet3d/models/dense_heads/groupfree3d_head.py
41.24KB
mmdet3d/models/dense_heads/parta2_rpn_head.py
13.53KB
mmdet3d/models/dense_heads/shape_aware_head.py
20.66KB
mmdet3d/models/dense_heads/ssd_3d_head.py
24.33KB
mmdet3d/models/dense_heads/train_mixins.py
16.41KB
mmdet3d/models/dense_heads/vote_head.py
27.69KB
mmdet3d/models/dense_heads/__init__.py
832B
mmdet3d/models/dense_heads/__pycache__/
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mmdet3d/models/dense_heads/__pycache__/anchor_free_mono3d_head.cpython-38.pyc
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mmdet3d/models/dense_heads/__pycache__/base_conv_bbox_head.cpython-38.pyc
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mmdet3d/models/dense_heads/__pycache__/base_mono3d_dense_head.cpython-38.pyc
2.93KB
mmdet3d/models/dense_heads/__pycache__/centerpoint_head.cpython-38.pyc
24.16KB
mmdet3d/models/dense_heads/__pycache__/fcos_mono3d_head.cpython-38.pyc
28.96KB
mmdet3d/models/dense_heads/__pycache__/free_anchor3d_head.cpython-38.pyc
7.91KB
mmdet3d/models/dense_heads/__pycache__/groupfree3d_head.cpython-38.pyc
24.59KB
mmdet3d/models/dense_heads/__pycache__/parta2_rpn_head.cpython-38.pyc
9.58KB
mmdet3d/models/dense_heads/__pycache__/shape_aware_head.cpython-38.pyc
15.06KB
mmdet3d/models/dense_heads/__pycache__/ssd_3d_head.cpython-38.pyc
15.24KB
mmdet3d/models/dense_heads/__pycache__/train_mixins.cpython-38.pyc
9.41KB
mmdet3d/models/dense_heads/__pycache__/vote_head.cpython-38.pyc
16.28KB
mmdet3d/models/dense_heads/__pycache__/__init__.cpython-38.pyc
914B
mmdet3d/models/dense_heads/__pycache__/anchor3d_head.cpython-38.pyc
19.57KB
mmdet3d/models/detectors/
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mmdet3d/models/detectors/base.py
4.76KB
mmdet3d/models/detectors/centerpoint.py
8.12KB
mmdet3d/models/detectors/dynamic_voxelnet.py
2.25KB
mmdet3d/models/detectors/fastbev.py
21.48KB
mmdet3d/models/detectors/fastbevtrt.py
7.7KB
mmdet3d/models/detectors/fcos_mono3d.py
839B
mmdet3d/models/detectors/groupfree3dnet.py
3.93KB
mmdet3d/models/detectors/h3dnet.py
6.62KB
mmdet3d/models/detectors/imvotenet.py
34.36KB
mmdet3d/models/detectors/imvoxelnet.py
7.76KB
mmdet3d/models/detectors/m2bevnet.py
18.66KB
mmdet3d/models/detectors/m2bevnet_ms_seq.py
26.14KB
mmdet3d/models/detectors/m2bevnet_seq.py
24.27KB
mmdet3d/models/detectors/mvx_faster_rcnn.py
1.99KB
mmdet3d/models/detectors/mvx_two_stage.py
20.39KB
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资源内容介绍

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// Modified from// https://github.com/open-mmlab/OpenPCDet/blob/master/pcdet/ops/iou3d_nms/src/iou3d_nms.cpp#include <cuda.h>#include <cuda_runtime_api.h>#include <torch/extension.h>#include <torch/serialize/tensor.h>#include <cstdint>#include <vector>#define CHECK_CUDA(x) \ TORCH_CHECK(x.device().is_cuda(), #x, " must be a CUDAtensor ")#define CHECK_CONTIGUOUS(x) \ TORCH_CHECK(x.is_contiguous(), #x, " must be contiguous ")#define CHECK_INPUT(x) \ CHECK_CUDA(x); \ CHECK_CONTIGUOUS(x)#define DIVUP(m, n) ((m) / (n) + ((m) % (n) > 0))#define CHECK_ERROR(ans) \ { gpuAssert((ans), __FILE__, __LINE__); }inline void gpuAssert(cudaError_t code, const char *file, int line, bool abort = true) { if (code != cudaSuccess) { fprintf(stderr, "GPUassert: %s %s %d\n", cudaGetErrorString(code), file, line); if (abort) exit(code); }}const int THREADS_PER_BLOCK_NMS = sizeof(unsigned long long) * 8;void boxesoverlapLauncher(const int num_a, const float *boxes_a, const int num_b, const float *boxes_b, float *ans_overlap);void boxesioubevLauncher(const int num_a, const float *boxes_a, const int num_b, const float *boxes_b, float *ans_iou);void nmsLauncher(const float *boxes, unsigned long long *mask, int boxes_num, float nms_overlap_thresh);void nmsNormalLauncher(const float *boxes, unsigned long long *mask, int boxes_num, float nms_overlap_thresh);int boxes_overlap_bev_gpu(at::Tensor boxes_a, at::Tensor boxes_b, at::Tensor ans_overlap) { // params boxes_a: (N, 5) [x1, y1, x2, y2, ry] // params boxes_b: (M, 5) // params ans_overlap: (N, M) CHECK_INPUT(boxes_a); CHECK_INPUT(boxes_b); CHECK_INPUT(ans_overlap); int num_a = boxes_a.size(0); int num_b = boxes_b.size(0); const float *boxes_a_data = boxes_a.data_ptr<float>(); const float *boxes_b_data = boxes_b.data_ptr<float>(); float *ans_overlap_data = ans_overlap.data_ptr<float>(); boxesoverlapLauncher(num_a, boxes_a_data, num_b, boxes_b_data, ans_overlap_data); return 1;}int boxes_iou_bev_gpu(at::Tensor boxes_a, at::Tensor boxes_b, at::Tensor ans_iou) { // params boxes_a: (N, 5) [x1, y1, x2, y2, ry] // params boxes_b: (M, 5) // params ans_overlap: (N, M) CHECK_INPUT(boxes_a); CHECK_INPUT(boxes_b); CHECK_INPUT(ans_iou); int num_a = boxes_a.size(0); int num_b = boxes_b.size(0); const float *boxes_a_data = boxes_a.data_ptr<float>(); const float *boxes_b_data = boxes_b.data_ptr<float>(); float *ans_iou_data = ans_iou.data_ptr<float>(); boxesioubevLauncher(num_a, boxes_a_data, num_b, boxes_b_data, ans_iou_data); return 1;}int nms_gpu(at::Tensor boxes, at::Tensor keep, float nms_overlap_thresh, int device_id) { // params boxes: (N, 5) [x1, y1, x2, y2, ry] // params keep: (N) CHECK_INPUT(boxes); CHECK_CONTIGUOUS(keep); cudaSetDevice(device_id); int boxes_num = boxes.size(0); const float *boxes_data = boxes.data_ptr<float>(); int64_t *keep_data = keep.data_ptr<int64_t>(); const int col_blocks = DIVUP(boxes_num, THREADS_PER_BLOCK_NMS); unsigned long long *mask_data = NULL; CHECK_ERROR(cudaMalloc((void **)&mask_data, boxes_num * col_blocks * sizeof(unsigned long long))); nmsLauncher(boxes_data, mask_data, boxes_num, nms_overlap_thresh); // unsigned long long mask_cpu[boxes_num * col_blocks]; // unsigned long long *mask_cpu = new unsigned long long [boxes_num * // col_blocks]; std::vector<unsigned long long> mask_cpu(boxes_num * col_blocks); // printf("boxes_num=%d, col_blocks=%d\n", boxes_num, col_blocks); CHECK_ERROR(cudaMemcpy(&mask_cpu[0], mask_data, boxes_num * col_blocks * sizeof(unsigned long long), cudaMemcpyDeviceToHost)); cudaFree(mask_data); unsigned long long *remv_cpu = new unsigned long long[col_blocks](); int num_to_keep = 0; for (int i = 0; i < boxes_num; i++) { int nblock = i / THREADS_PER_BLOCK_NMS; int inblock = i % THREADS_PER_BLOCK_NMS; if (!(remv_cpu[nblock] & (1ULL << inblock))) { keep_data[num_to_keep++] = i; unsigned long long *p = &mask_cpu[0] + i * col_blocks; for (int j = nblock; j < col_blocks; j++) { remv_cpu[j] |= p[j]; } } } delete[] remv_cpu; if (cudaSuccess != cudaGetLastError()) printf("Error!\n"); return num_to_keep;}int nms_normal_gpu(at::Tensor boxes, at::Tensor keep, float nms_overlap_thresh, int device_id) { // params boxes: (N, 5) [x1, y1, x2, y2, ry] // params keep: (N) CHECK_INPUT(boxes); CHECK_CONTIGUOUS(keep); cudaSetDevice(device_id); int boxes_num = boxes.size(0); const float *boxes_data = boxes.data_ptr<float>(); int64_t *keep_data = keep.data_ptr<int64_t>(); const int col_blocks = DIVUP(boxes_num, THREADS_PER_BLOCK_NMS); unsigned long long *mask_data = NULL; CHECK_ERROR(cudaMalloc((void **)&mask_data, boxes_num * col_blocks * sizeof(unsigned long long))); nmsNormalLauncher(boxes_data, mask_data, boxes_num, nms_overlap_thresh); // unsigned long long mask_cpu[boxes_num * col_blocks]; // unsigned long long *mask_cpu = new unsigned long long [boxes_num * // col_blocks]; std::vector<unsigned long long> mask_cpu(boxes_num * col_blocks); // printf("boxes_num=%d, col_blocks=%d\n", boxes_num, col_blocks); CHECK_ERROR(cudaMemcpy(&mask_cpu[0], mask_data, boxes_num * col_blocks * sizeof(unsigned long long), cudaMemcpyDeviceToHost)); cudaFree(mask_data); unsigned long long *remv_cpu = new unsigned long long[col_blocks](); int num_to_keep = 0; for (int i = 0; i < boxes_num; i++) { int nblock = i / THREADS_PER_BLOCK_NMS; int inblock = i % THREADS_PER_BLOCK_NMS; if (!(remv_cpu[nblock] & (1ULL << inblock))) { keep_data[num_to_keep++] = i; unsigned long long *p = &mask_cpu[0] + i * col_blocks; for (int j = nblock; j < col_blocks; j++) { remv_cpu[j] |= p[j]; } } } delete[] remv_cpu; if (cudaSuccess != cudaGetLastError()) printf("Error!\n"); return num_to_keep;}PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) { m.def("boxes_overlap_bev_gpu", &boxes_overlap_bev_gpu, "oriented boxes overlap"); m.def("boxes_iou_bev_gpu", &boxes_iou_bev_gpu, "oriented boxes iou"); m.def("nms_gpu", &nms_gpu, "oriented nms gpu"); m.def("nms_normal_gpu", &nms_normal_gpu, "nms gpu");}

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