import math
from pathlib import Path
from second.utils.buildtools.pybind11_build import load_pb11
from second.utils.find import find_cuda_device_arch
import numba
import numpy as np
try:
from second.core.non_max_suppression.nms import (
non_max_suppression_cpu, rotate_non_max_suppression_cpu)
except:
current_dir = Path(__file__).resolve().parents[0]
load_pb11(
["../cc/nms/nms_kernel.cu.cc", "../cc/nms/nms.cc"],
current_dir / "nms.so",
current_dir,
cuda=True)
from second.core.non_max_suppression.nms import (
non_max_suppression_cpu, rotate_non_max_suppression_cpu)
from second.core import box_np_ops
def nms_cc(dets, thresh):
scores = dets[:, 4]
order = scores.argsort()[::-1].astype(np.int32) # highest->lowest
return non_max_suppression_cpu(dets, order, thresh, 1.0)
def rotate_nms_cc(dets, thresh):
import math
from pathlib import Path
from second.utils.buildtools.pybind11_build import load_pb11
from second.utils.find import find_cuda_device_arch
import numba
import numpy as np
try:
from second.core.non_max_suppression.nms import (
non_max_suppression_cpu, rotate_non_max_suppression_cpu)
except:
current_dir = Path(__file__).resolve().parents[0]
load_pb11(
["../cc/nms/nms_kernel.cu.cc", "../cc/nms/nms.cc"],
current_dir / "nms.so",
current_dir,
includes=["/zfsauton2/home/anirudds/.local/boost_1_62_0"],
cuda=True)
from second.core.non_max_suppression.nms import (
non_max_suppression_cpu, rotate_non_max_suppression_cpu)
from second.core import box_np_ops
def nms_cc(dets, thresh):
scores = dets[:, 4]
order = scores.argsort()[::-1].astype(np.int32) # highest->lowest
return non_max_suppression_cpu(dets, order, thresh, 1.0)
def rotate_nms_cc(dets, thresh):
import numba
from pathlib import Path
import numpy as np
from second.utils.buildtools.pybind11_build import load_pb11
from second.core.geometry import points_in_convex_polygon_3d_jit
from second.core.non_max_suppression.nms_gpu import rotate_iou_gpu_eval
try:
from second.core import box_ops_cc
except:
current_dir = Path(__file__).resolve().parents[0]
box_ops_cc = load_pb11(["./cc/box_ops.cc"], current_dir / "box_ops_cc.so", current_dir)
def riou_cc(rbboxes, qrbboxes, standup_thresh=0.0):
# less than 50ms when used in second one thread. 10x slower than gpu
boxes_corners = center_to_corner_box2d(rbboxes[:, :2], rbboxes[:, 2:4],
rbboxes[:, 4])
boxes_standup = corner_to_standup_nd(boxes_corners)
qboxes_corners = center_to_corner_box2d(qrbboxes[:, :2], qrbboxes[:, 2:4],
qrbboxes[:, 4])
qboxes_standup = corner_to_standup_nd(qboxes_corners)
# if standup box not overlapped, rbbox not overlapped too.
standup_iou = iou_jit(boxes_standup, qboxes_standup, eps=0.0)
return box_ops_cc.rbbox_iou(boxes_corners, qboxes_corners, standup_iou,
standup_thresh)
def second_box_encode(boxes, anchors, encode_angle_to_vector=False, smooth_dim=False):
"""box encode for VoxelNet in lidar
import numba
from pathlib import Path
import numpy as np
from second.utils.buildtools.pybind11_build import load_pb11
from second.core.geometry import points_in_convex_polygon_3d_jit
from second.core.non_max_suppression.nms_gpu import rotate_iou_gpu_eval
try:
from second.core import box_ops_cc
except:
current_dir = Path(__file__).resolve().parents[0]
box_ops_cc = load_pb11(
["./cc/box_ops.cc"],
current_dir / "box_ops_cc.so",
current_dir,
includes=["/zfsauton2/home/anirudds/.local/boost_1_62_0"])
def riou_cc(rbboxes, qrbboxes, standup_thresh=0.0):
# less than 50ms when used in second one thread. 10x slower than gpu
boxes_corners = center_to_corner_box2d(rbboxes[:, :2], rbboxes[:, 2:4],
rbboxes[:, 4])
boxes_standup = corner_to_standup_nd(boxes_corners)
qboxes_corners = center_to_corner_box2d(qrbboxes[:, :2], qrbboxes[:, 2:4],
qrbboxes[:, 4])
qboxes_standup = corner_to_standup_nd(qboxes_corners)
# if standup box not overlapped, rbbox not overlapped too.
standup_iou = iou_jit(boxes_standup, qboxes_standup, eps=0.0)
return box_ops_cc.rbbox_iou(boxes_corners, qboxes_corners, standup_iou,
standup_thresh)