54 lines
2.0 KiB
C
54 lines
2.0 KiB
C
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// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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//
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// Reference:
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// https://github.com/open-mmlab/OpenPCDet/blob/master/pcdet/ops/iou3d_nms/src/iou3d_nms_kernel.cu
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//
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// Reference:
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// https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/ops/iou3d/src/iou3d_kernel.cu
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// 3D IoU Calculation and Rotated NMS(modified from 2D NMS written by others)
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// Written by Shaoshuai Shi
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// All Rights Reserved 2019-2020.
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#pragma once
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#include <cstdint>
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#include <vector>
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namespace open3d {
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namespace ml {
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namespace contrib {
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#ifdef BUILD_CUDA_MODULE
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/// \param boxes (n, 5) float32.
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/// \param scores (n,) float32.
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/// \param n Number of boxes.
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/// \param nms_overlap_thresh When a high-score box is selected, other remaining
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/// boxes with IoU > nms_overlap_thresh will be discarded.
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/// \return Selected box indices to keep.
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std::vector<int64_t> NmsCUDAKernel(const float *boxes,
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const float *scores,
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int n,
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double nms_overlap_thresh);
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#endif
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/// \param boxes (n, 5) float32.
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/// \param scores (n,) float32.
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/// \param n Number of boxes.
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/// \param nms_overlap_thresh When a high-score box is selected, other remaining
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/// boxes with IoU > nms_overlap_thresh will be discarded.
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/// \return Selected box indices to keep.
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std::vector<int64_t> NmsCPUKernel(const float *boxes,
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const float *scores,
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int n,
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double nms_overlap_thresh);
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} // namespace contrib
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} // namespace ml
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} // namespace open3d
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