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// Copyright (c) Facebook, Inc. and its affiliates.
#include "../box_iou_rotated/box_iou_rotated_utils.h"
#include "nms_rotated.h"
namespace detectron2 {
template <typename scalar_t>
at::Tensor nms_rotated_cpu_kernel(
const at::Tensor& dets,
const at::Tensor& scores,
const double iou_threshold) {
// nms_rotated_cpu_kernel is modified from torchvision's nms_cpu_kernel,
// however, the code in this function is much shorter because
// we delegate the IoU computation for rotated boxes to
// the single_box_iou_rotated function in box_iou_rotated_utils.h
AT_ASSERTM(dets.device().is_cpu(), "dets must be a CPU tensor");
AT_ASSERTM(scores.device().is_cpu(), "scores must be a CPU tensor");
AT_ASSERTM(
dets.scalar_type() == scores.scalar_type(),
"dets should have the same type as scores");
if (dets.numel() == 0) {
return at::empty({0}, dets.options().dtype(at::kLong));
}
auto order_t = std::get<1>(scores.sort(0, /* descending=*/true));
auto ndets = dets.size(0);
at::Tensor suppressed_t = at::zeros({ndets}, dets.options().dtype(at::kByte));
at::Tensor keep_t = at::zeros({ndets}, dets.options().dtype(at::kLong));
auto suppressed = suppressed_t.data_ptr<uint8_t>();
auto keep = keep_t.data_ptr<int64_t>();
auto order = order_t.data_ptr<int64_t>();
int64_t num_to_keep = 0;
for (int64_t _i = 0; _i < ndets; _i++) {
auto i = order[_i];
if (suppressed[i] == 1) {
continue;
}
keep[num_to_keep++] = i;
for (int64_t _j = _i + 1; _j < ndets; _j++) {
auto j = order[_j];
if (suppressed[j] == 1) {
continue;
}
auto ovr = single_box_iou_rotated<scalar_t>(
dets[i].data_ptr<scalar_t>(), dets[j].data_ptr<scalar_t>());
if (ovr >= iou_threshold) {
suppressed[j] = 1;
}
}
}
return keep_t.narrow(/*dim=*/0, /*start=*/0, /*length=*/num_to_keep);
}
at::Tensor nms_rotated_cpu(
// input must be contiguous
const at::Tensor& dets,
const at::Tensor& scores,
const double iou_threshold) {
auto result = at::empty({0}, dets.options());
AT_DISPATCH_FLOATING_TYPES(dets.scalar_type(), "nms_rotated", [&] {
result = nms_rotated_cpu_kernel<scalar_t>(dets, scores, iou_threshold);
});
return result;
}
} // namespace detectron2
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