def rotate_nms_cc(dets, thresh):
scores = dets[:, 5]
order = scores.argsort()[::-1].astype(np.int32) # highest->lowest
dets_corners = box_np_ops.center_to_corner_box2d(dets[:, :2], dets[:, 2:4],
dets[:, 4])
dets_standup = box_np_ops.corner_to_standup_nd(dets_corners)
standup_iou = box_np_ops.iou_jit(dets_standup, dets_standup, eps=0.0)
# print(dets_corners.shape, order.shape, standup_iou.shape)
return rotate_non_max_suppression_cpu(dets_corners, order, standup_iou,
thresh)
def rotate_nms_3d_cc(dets, thresh, flag):
assert dets.shape[1] == 8
scores = dets[:, -1]
ious_3d = boxes_iou_3d(dets[:, 0:7],
dets[:, 0:7],
aug_thickness=None,
criterion=-1,
flag=flag)
ious_3d = ious_3d.cpu().data.numpy()
order = scores.argsort().cpu().data.numpy().astype(
np.int32)[::-1] # highest->lowest
dets_np = dets.cpu().data.numpy()
dets_corners = box_np_ops.center_to_corner_box2d(dets_np[:, :2],
dets_np[:, 3:5],
dets_np[:, 6])
#dets_standup = box_np_ops.corner_to_standup_nd(dets_corners)
#standup_iou = box_np_ops.iou_jit(dets_standup, dets_standup, eps=0.0)
# print(dets_corners.shape, order.shape, standup_iou.shape)
indices = rotate_non_max_suppression_cpu(dets_corners, order, ious_3d,
thresh)
return indices