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mmcv/mmcv/ops/csrc/common/mlu/iou3d_utils.hpp
cathyzhang222 7fd7058a9c
[Feature] Support Iou3d with cambricon MLU backend (#2339) 
* [Feature] Support Iou3d with cambricon MLU backend

* [Feature] add double line

* [Feature] add line
2022-10-24 15:58:58 +08:00

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/*************************************************************************
* Copyright (C) 2022 Cambricon.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*************************************************************************/
#ifndef IOU3D_UTILS_HPP_
#define IOU3D_UTILS_HPP_
#include "common_mlu_helper.hpp"
#define IOU3D_SIZE 64
#define IOU3D_UP(x, y) (x / y + (int)(x % y > 0)) * y
#define IOU3D_DOWN(x, y) (x / y) * y
#define SIZE_NRAM_BUF (MAX_NRAM_SIZE)
#define SIZE_SRAM_BUF (MAX_SRAM_SIZE)
#define COMPUTE_COUNT_ALIGN 64
#define INFO_NUM (5) // score, x1, y1, x2, y2
#define REDUCE_NUM \
(7) // score, x1, y1, x2, y2, max_index (reserve 2 num for half-type input)
#define SINGLE_BOX_DIM 5
#define MEMORY_CORE (0x80)
__mlu_func__ void pvLock() {
#if __BANG_ARCH__ == 270
if (coreId != MEMORY_CORE) {
__bang_lock(0, 0);
}
#endif
}
__mlu_func__ void pvUnlock() {
#if __BANG_ARCH__ == 270
if (coreId != MEMORY_CORE) {
__bang_unlock(0, 0);
}
#endif
}
// cross2d<T>(A, B) = A.x * B.y - A.y * B.x;
template <typename T>
inline __mlu_func__ void cross2d(T *result, const T *p1_x, const T *p1_y,
const T *p2_x, const T *p2_y,
const int &length, T *temp_ram) {
__bang_mul((T *)temp_ram, (T *)p1_x, (T *)p2_y, length);
__bang_mul((T *)result, (T *)p1_y, (T *)p2_x, length);
__bang_sub((T *)result, (T *)temp_ram, (T *)result, length);
}
// dot2d<T>(A, B) = A.x * B.x + A.y * B.y
template <typename T>
inline __mlu_func__ void dot2d(T *result, const T *p1_x, const T *p1_y,
const T *p2_x, const T *p2_y, const int &length,
T *temp_ram) {
__bang_mul((T *)temp_ram, (T *)p1_x, (T *)p2_x, length);
__bang_mul((T *)result, (T *)p1_y, (T *)p2_y, length);
__bang_add((T *)result, (T *)temp_ram, (T *)result, length);
}
template <typename T>
__mlu_func__ void getRotatedVertices(T *pts_x, T *pts_y, T *box, T *temp1,
T *temp2, T *temp3, T *temp4,
const uint32_t &actual_compute_box_num) {
// T cosTheta2 = (T)cos(theta) * 0.5f; -- temp1
// T sinTheta2 = (T)sin(theta) * 0.5f; -- temp2
// theta is the box's 5th data: a, rotated radian;
#if __BANG_ARCH__ >= 300
__bang_cos((float *)temp1, ((float *)box) + 4 * actual_compute_box_num,
actual_compute_box_num);
__bang_sin((float *)temp2, ((float *)box) + 4 * actual_compute_box_num,
actual_compute_box_num);
#else
__bang_taylor4_cos((T *)temp1, ((T *)box) + 4 * actual_compute_box_num,
(T *)temp3, (T *)temp4, actual_compute_box_num);
__bang_taylor4_sin((T *)temp2, ((T *)box) + 4 * actual_compute_box_num,
(T *)temp3, (T *)temp4, actual_compute_box_num);
#endif
__bang_mul_scalar((T *)temp1, (T *)temp1, (T)0.5, actual_compute_box_num);
__bang_mul_scalar((T *)temp2, (T *)temp2, (T)0.5, actual_compute_box_num);
// Temp3 = sinTheta2 * box.h;
// Temp4 = cosTheta2 * box.w;
__bang_mul((T *)temp3, (T *)temp2, ((T *)box) + 3 * actual_compute_box_num,
actual_compute_box_num);
__bang_mul((T *)temp4, (T *)temp1, ((T *)box) + 2 * actual_compute_box_num,
actual_compute_box_num);
// pts[0].x = box.x_ctr - sinTheta2 * box.h - cosTheta2 * box.w;
// pts[1].x = box.x_ctr + sinTheta2 * box.h - cosTheta2 * box.w;
__bang_sub((T *)pts_x, (T *)box, (T *)temp3, actual_compute_box_num);
__bang_sub((T *)pts_x, (T *)pts_x, (T *)temp4, actual_compute_box_num);
__bang_add((T *)pts_x + 1 * actual_compute_box_num, (T *)box, (T *)temp3,
actual_compute_box_num);
__bang_sub((T *)pts_x + 1 * actual_compute_box_num,
(T *)pts_x + 1 * actual_compute_box_num, (T *)temp4,
actual_compute_box_num);
// Temp3 = cosTheta2 * box.h;
// Temp4 = sinTheta2 * box.w;
__bang_mul((T *)temp3, (T *)temp1, box + 3 * actual_compute_box_num,
actual_compute_box_num);
__bang_mul((T *)temp4, (T *)temp2, box + 2 * actual_compute_box_num,
actual_compute_box_num);
// pts[0].y = box.y_ctr + cosTheta2 * box.h - sinTheta2 * box.w;
// pts[1].y = box.y_ctr - cosTheta2 * box.h - sinTheta2 * box.w;
__bang_add((T *)pts_y, (T *)box + 1 * actual_compute_box_num, (T *)temp3,
actual_compute_box_num);
__bang_sub((T *)pts_y, (T *)pts_y, (T *)temp4, actual_compute_box_num);
__bang_sub((T *)pts_y + 1 * actual_compute_box_num,
(T *)box + 1 * actual_compute_box_num, (T *)temp3,
actual_compute_box_num);
__bang_sub((T *)pts_y + 1 * actual_compute_box_num,
(T *)pts_y + 1 * actual_compute_box_num, (T *)temp4,
actual_compute_box_num);
// pts[2].x = 2 * box.x_ctr - pts[0].x;
// pts[3].x = 2 * box.x_ctr - pts[1].x;
__bang_add((T *)pts_x + 2 * actual_compute_box_num, (T *)box, (T *)box,
actual_compute_box_num);
__bang_sub((T *)pts_x + 2 * actual_compute_box_num,
(T *)pts_x + 2 * actual_compute_box_num, (T *)pts_x,
actual_compute_box_num);
__bang_add((T *)pts_x + 3 * actual_compute_box_num, (T *)box, (T *)box,
actual_compute_box_num);
__bang_sub((T *)pts_x + 3 * actual_compute_box_num,
(T *)pts_x + 3 * actual_compute_box_num,
(T *)pts_x + 1 * actual_compute_box_num, actual_compute_box_num);
// pts[2].y = 2 * box.y_ctr - pts[0].y;
// pts[3].y = 2 * box.y_ctr - pts[1].y;
__bang_add((T *)pts_y + 2 * actual_compute_box_num,
(T *)box + 1 * actual_compute_box_num,
(T *)box + 1 * actual_compute_box_num, actual_compute_box_num);
__bang_sub((T *)pts_y + 2 * actual_compute_box_num,
(T *)pts_y + 2 * actual_compute_box_num, (T *)pts_y,
actual_compute_box_num);
__bang_add((T *)pts_y + 3 * actual_compute_box_num,
(T *)box + 1 * actual_compute_box_num,
(T *)box + 1 * actual_compute_box_num, actual_compute_box_num);
__bang_sub((T *)pts_y + 3 * actual_compute_box_num,
(T *)pts_y + 3 * actual_compute_box_num,
(T *)pts_y + 1 * actual_compute_box_num, actual_compute_box_num);
}
template <typename T>
__mlu_func__ void getIntersectPts(T *rotated_pts1_x, T *rotated_pts1_y,
T *rotated_pts2_x, T *rotated_pts2_y,
T *vec1_x, T *vec1_y, T *vec2_x, T *vec2_y,
T *intersect_pts_x, T *intersect_pts_y,
T *valid_pts, T *nums_in_ram, T *temp1_ram,
T *temp2_ram, T *temp3_ram, T *temp4_ram,
T *temp5_ram, T *temp6_ram, T *temp7_ram,
T *temp8_ram, T *temp9_ram, T *temp10_ram,
const uint32_t &actual_compute_box_num) {
// Initialize const data to ram
// temp3 = const 1e-14(@float), length = COMPUTE_COUNT_ALIGN
#if __BANG_ARCH__ >= 300
__bang_write_value((T *)temp3_ram, COMPUTE_COUNT_ALIGN, (T)1e-14);
#else
// NOTE: Since active_reciphp function has strict value range,
// [2.2205e-16, 2e6]@float, [0.00391, 65504]@half
__bang_write_value((T *)temp3_ram, COMPUTE_COUNT_ALIGN, (float)1e-14);
#endif
// temp4 = const T(0), length = COMPUTE_COUNT_ALIGN
__bang_write_value((T *)temp4_ram, COMPUTE_COUNT_ALIGN, (T)0);
// temp5 = const T(1), length = COMPUTE_COUNT_ALIGN
__bang_write_value((T *)temp5_ram, COMPUTE_COUNT_ALIGN, (T)1);
// Line vector, from p1 to p2 is: p1+(p2-p1)*t, t=[0,1]
// for i = 0~3, vec[i] = pts[(i+1)%4] - pts[i]
__bang_sub((T *)vec1_x, (T *)rotated_pts1_x + actual_compute_box_num,
(T *)rotated_pts1_x, 3 * actual_compute_box_num);
__bang_sub((T *)vec1_x + 3 * actual_compute_box_num, (T *)rotated_pts1_x,
(T *)rotated_pts1_x + 3 * actual_compute_box_num,
actual_compute_box_num);
__bang_sub((T *)vec1_y, (T *)rotated_pts1_y + actual_compute_box_num,
(T *)rotated_pts1_y, 3 * actual_compute_box_num);
__bang_sub((T *)vec1_y + 3 * actual_compute_box_num, (T *)rotated_pts1_y,
(T *)rotated_pts1_y + 3 * actual_compute_box_num,
actual_compute_box_num);
__bang_sub((T *)vec2_x, (T *)rotated_pts2_x + actual_compute_box_num,
(T *)rotated_pts2_x, 3 * actual_compute_box_num);
__bang_sub((T *)vec2_x + 3 * actual_compute_box_num, (T *)rotated_pts2_x,
(T *)rotated_pts2_x + 3 * actual_compute_box_num,
actual_compute_box_num);
__bang_sub((T *)vec2_y, (T *)rotated_pts2_y + actual_compute_box_num,
(T *)rotated_pts2_y, 3 * actual_compute_box_num);
__bang_sub((T *)vec2_y + 3 * actual_compute_box_num, (T *)rotated_pts2_y,
(T *)rotated_pts2_y + 3 * actual_compute_box_num,
actual_compute_box_num);
// First, line test - test all line combos for intersection, 4x4 possible
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
// T det = cross2d<T>(vec2[j], vec1[i]) -- temp2
cross2d<T>((T *)temp2_ram, (T *)vec2_x + j * actual_compute_box_num,
(T *)vec2_y + j * actual_compute_box_num,
(T *)vec1_x + i * actual_compute_box_num,
(T *)vec1_y + i * actual_compute_box_num,
actual_compute_box_num, (T *)temp1_ram);
// temp8 = sign(det), since active_reciphp only receive positive values
__bang_active_sign((T *)temp8_ram, (T *)temp2_ram,
actual_compute_box_num);
// deal with parallel lines, temp2 = fabs(det), temp1 = temp2 > 1e-14
__bang_active_abs((T *)temp2_ram, (T *)temp2_ram, actual_compute_box_num);
__bang_cycle_gt((T *)temp1_ram, (T *)temp2_ram, (T *)temp3_ram,
actual_compute_box_num, COMPUTE_COUNT_ALIGN);
// Where temp1 = false, set recip input to 1, avoiding recip(0), cause inf
__bang_not((T *)temp9_ram, (T *)temp1_ram, actual_compute_box_num);
__bang_mul((T *)temp2_ram, (T *)temp2_ram, (T *)temp1_ram,
actual_compute_box_num);
__bang_add((T *)temp2_ram, (T *)temp2_ram, (T *)temp9_ram,
actual_compute_box_num);
// temp2 = 1/temp2, use mult (1/temp2) instead of div temp2
#if __BANG_ARCH__ >= 300
__bang_recip((float *)temp2_ram, (float *)temp2_ram,
actual_compute_box_num);
#else
// NOTE: active_reciphp function has strict value range:
// [2.2205e-16, 2e6]@float, [0.00391, 65504]@half
__bang_active_reciphp((T *)temp2_ram, (T *)temp2_ram,
actual_compute_box_num);
#endif
// Restore temp2 invalid box value 1 and sign-bit
__bang_mul((T *)temp2_ram, (T *)temp2_ram, (T *)temp1_ram,
actual_compute_box_num);
__bang_mul((T *)temp2_ram, (T *)temp2_ram, (T *)temp8_ram,
actual_compute_box_num);
// auto vec12 = pts2[j] - pts1[i], (temp6, temp7) = (x, y)
__bang_sub((T *)temp6_ram,
(T *)rotated_pts2_x + j * actual_compute_box_num,
(T *)rotated_pts1_x + i * actual_compute_box_num,
actual_compute_box_num);
__bang_sub((T *)temp7_ram,
(T *)rotated_pts2_y + j * actual_compute_box_num,
(T *)rotated_pts1_y + i * actual_compute_box_num,
actual_compute_box_num);
// T t1 = cross2d<T>(vec2[j], vec12) mult (1/det) -- temp8
cross2d<T>((T *)temp8_ram, (T *)vec2_x + j * actual_compute_box_num,
(T *)vec2_y + j * actual_compute_box_num, (T *)temp6_ram,
(T *)temp7_ram, actual_compute_box_num, (T *)temp9_ram);
__bang_mul((T *)temp8_ram, (T *)temp8_ram, (T *)temp2_ram,
actual_compute_box_num);
// temp1 &= (t1 >= 0.0f && t1 <= 1.0f) -- temp9
__bang_cycle_ge((T *)temp9_ram, (T *)temp8_ram, (T *)temp4_ram,
actual_compute_box_num, COMPUTE_COUNT_ALIGN);
__bang_and((T *)temp1_ram, (T *)temp1_ram, (T *)temp9_ram,
actual_compute_box_num);
__bang_cycle_le((T *)temp9_ram, (T *)temp8_ram, (T *)temp5_ram,
actual_compute_box_num, COMPUTE_COUNT_ALIGN);
__bang_and((T *)temp1_ram, (T *)temp1_ram, (T *)temp9_ram,
actual_compute_box_num);
// T t2 = cross2d<T>(vec1[i], vec12) mult temp2 -- temp9
// NOTE: temp8(t1) is used after, reuse temp7(p2_y) as cross2d temp ram
cross2d<T>((T *)temp9_ram, (T *)vec1_x + i * actual_compute_box_num,
(T *)vec1_y + i * actual_compute_box_num, (T *)temp6_ram,
(T *)temp7_ram, actual_compute_box_num, (T *)temp7_ram);
__bang_mul((T *)temp9_ram, (T *)temp9_ram, (T *)temp2_ram,
actual_compute_box_num);
// temp1 &= (t2 >= 0.0f && t2 <= 1.0f) -- temp9
__bang_cycle_ge((T *)temp7_ram, (T *)temp9_ram, (T *)temp4_ram,
actual_compute_box_num, COMPUTE_COUNT_ALIGN);
__bang_and((T *)temp1_ram, (T *)temp1_ram, (T *)temp7_ram,
actual_compute_box_num);
__bang_cycle_le((T *)temp7_ram, (T *)temp9_ram, (T *)temp5_ram,
actual_compute_box_num, COMPUTE_COUNT_ALIGN);
__bang_and((T *)temp1_ram, (T *)temp1_ram, (T *)temp7_ram,
actual_compute_box_num);
// intersections = (pts1[i] + vec1[i] * t1) * temp1
__bang_mul((T *)temp9_ram, (T *)vec1_x + i * actual_compute_box_num,
(T *)temp8_ram, actual_compute_box_num);
__bang_add((T *)temp9_ram,
(T *)rotated_pts1_x + i * actual_compute_box_num,
(T *)temp9_ram, actual_compute_box_num);
__bang_mul((T *)intersect_pts_x + (4 * i + j) * actual_compute_box_num,
(T *)temp9_ram, (T *)temp1_ram, actual_compute_box_num);
__bang_mul((T *)temp9_ram, (T *)vec1_y + i * actual_compute_box_num,
(T *)temp8_ram, actual_compute_box_num);
__bang_add((T *)temp9_ram,
(T *)rotated_pts1_y + i * actual_compute_box_num,
(T *)temp9_ram, actual_compute_box_num);
__bang_mul((T *)intersect_pts_y + (4 * i + j) * actual_compute_box_num,
(T *)temp9_ram, (T *)temp1_ram, actual_compute_box_num);
// Assign `valid_pts` bit and accumulate `nums_in` of valid points of each
// box pair
__bang_or((T *)valid_pts + (4 * i + j) * actual_compute_box_num,
(T *)valid_pts + (4 * i + j) * actual_compute_box_num,
(T *)temp1_ram, actual_compute_box_num);
__bang_add((T *)nums_in_ram, (T *)nums_in_ram, (T *)temp1_ram,
actual_compute_box_num);
}
}
// Check for vertices of rect1 inside rect2
// temp5 = ABdotAB
dot2d<T>((T *)temp5_ram, (T *)vec2_x, (T *)vec2_y, (T *)vec2_x, (T *)vec2_y,
actual_compute_box_num, (T *)temp9_ram);
// temp6 = ADdotAD
dot2d<T>((T *)temp6_ram, (T *)vec2_x + 3 * actual_compute_box_num,
(T *)vec2_y + 3 * actual_compute_box_num,
(T *)vec2_x + 3 * actual_compute_box_num,
(T *)vec2_y + 3 * actual_compute_box_num, actual_compute_box_num,
(T *)temp9_ram);
// assume ABCD is the rectangle, and P is the point to be judged
// P is inside ABCD iff. P's projection on AB lines within AB
// and P's projection on AD lies within AD
for (int i = 0; i < 4; i++) {
// AP = pts1[i] - pts2[0] = (temp7, temp8)
__bang_sub((T *)temp7_ram, (T *)rotated_pts1_x + i * actual_compute_box_num,
(T *)rotated_pts2_x, actual_compute_box_num);
__bang_sub((T *)temp8_ram, (T *)rotated_pts1_y + i * actual_compute_box_num,
(T *)rotated_pts2_y, actual_compute_box_num);
// temp9 = APdotAB = dot2d<T>(AP, AB)
dot2d<T>((T *)temp9_ram, (T *)temp7_ram, (T *)temp8_ram, (T *)vec2_x,
(T *)vec2_y, actual_compute_box_num, (T *)temp2_ram);
// temp10 = APdotAD = -dot2d<T>(AP, DA)
dot2d<T>((T *)temp10_ram, (T *)temp7_ram, (T *)temp8_ram,
(T *)vec2_x + 3 * actual_compute_box_num,
(T *)vec2_y + 3 * actual_compute_box_num, actual_compute_box_num,
(T *)temp2_ram);
__bang_mul_scalar((T *)temp10_ram, (T *)temp10_ram, (T)-1,
actual_compute_box_num);
// ((APdotAB >= 0) && (APdotAD >= 0) && (APdotAB <= ABdotAB) && (APdotAD <=
// ADdotAD))
__bang_cycle_ge((T *)temp1_ram, (T *)temp9_ram, (T *)temp4_ram,
actual_compute_box_num, COMPUTE_COUNT_ALIGN);
__bang_cycle_ge((T *)temp2_ram, (T *)temp10_ram, (T *)temp4_ram,
actual_compute_box_num, COMPUTE_COUNT_ALIGN);
__bang_and((T *)temp1_ram, (T *)temp1_ram, (T *)temp2_ram,
actual_compute_box_num);
__bang_le((T *)temp2_ram, (T *)temp9_ram, (T *)temp5_ram,
actual_compute_box_num);
__bang_and((T *)temp1_ram, (T *)temp1_ram, (T *)temp2_ram,
actual_compute_box_num);
__bang_le((T *)temp2_ram, (T *)temp10_ram, (T *)temp6_ram,
actual_compute_box_num);
__bang_and((T *)temp1_ram, (T *)temp1_ram, (T *)temp2_ram,
actual_compute_box_num);
// 16 means the 4x4 possible intersection points above
__bang_mul((T *)intersect_pts_x + (16 + i) * actual_compute_box_num,
(T *)temp1_ram, (T *)rotated_pts1_x + i * actual_compute_box_num,
actual_compute_box_num);
__bang_mul((T *)intersect_pts_y + (16 + i) * actual_compute_box_num,
(T *)temp1_ram, (T *)rotated_pts1_y + i * actual_compute_box_num,
actual_compute_box_num);
// assign valid_pts bit and accumulate nums of valid points of each box pair
__bang_or((T *)valid_pts + (16 + i) * actual_compute_box_num,
(T *)valid_pts + (16 + i) * actual_compute_box_num,
(T *)temp1_ram, actual_compute_box_num);
__bang_add((T *)nums_in_ram, (T *)nums_in_ram, (T *)temp1_ram,
actual_compute_box_num);
}
// Reverse the check - check for vertices of rect2 inside rect1
// temp5 = ABdotAB
dot2d<T>((T *)temp5_ram, (T *)vec1_x, (T *)vec1_y, (T *)vec1_x, (T *)vec1_y,
actual_compute_box_num, (T *)temp9_ram);
// temp6 = ADdotAD
dot2d<T>((T *)temp6_ram, (T *)vec1_x + 3 * actual_compute_box_num,
(T *)vec1_y + 3 * actual_compute_box_num,
(T *)vec1_x + 3 * actual_compute_box_num,
(T *)vec1_y + 3 * actual_compute_box_num, actual_compute_box_num,
(T *)temp9_ram);
for (int i = 0; i < 4; i++) {
// AP = pts2[i] - pts1[0] = (temp7, temp8)
__bang_sub((T *)temp7_ram, (T *)rotated_pts2_x + i * actual_compute_box_num,
(T *)rotated_pts1_x, actual_compute_box_num);
__bang_sub((T *)temp8_ram, (T *)rotated_pts2_y + i * actual_compute_box_num,
(T *)rotated_pts1_y, actual_compute_box_num);
// temp9 = APdotAB = dot2d<T>(AP, AB)
dot2d<T>((T *)temp9_ram, (T *)temp7_ram, (T *)temp8_ram, (T *)vec1_x,
(T *)vec1_y, actual_compute_box_num, (T *)temp2_ram);
// temp10 = APdotAD = -dot2d<T>(AP, DA)
dot2d<T>((T *)temp10_ram, (T *)temp7_ram, (T *)temp8_ram,
(T *)vec1_x + 3 * actual_compute_box_num,
(T *)vec1_y + 3 * actual_compute_box_num, actual_compute_box_num,
(T *)temp2_ram);
__bang_mul_scalar((T *)temp10_ram, (T *)temp10_ram, (T)-1,
actual_compute_box_num);
// ((APdotAB >= 0) && (APdotAD >= 0) && (APdotAB <= ABdotAB) && (APdotAD <=
// ADdotAD))
__bang_cycle_ge((T *)temp1_ram, (T *)temp9_ram, (T *)temp4_ram,
actual_compute_box_num, COMPUTE_COUNT_ALIGN);
__bang_cycle_ge((T *)temp2_ram, (T *)temp10_ram, (T *)temp4_ram,
actual_compute_box_num, COMPUTE_COUNT_ALIGN);
__bang_and((T *)temp1_ram, (T *)temp1_ram, (T *)temp2_ram,
actual_compute_box_num);
__bang_le((T *)temp2_ram, (T *)temp9_ram, (T *)temp5_ram,
actual_compute_box_num);
__bang_and((T *)temp1_ram, (T *)temp1_ram, (T *)temp2_ram,
actual_compute_box_num);
__bang_le((T *)temp2_ram, (T *)temp10_ram, (T *)temp6_ram,
actual_compute_box_num);
__bang_and((T *)temp1_ram, (T *)temp1_ram, (T *)temp2_ram,
actual_compute_box_num);
// 20 means the (4x4+4) possible intersection points above
__bang_mul((T *)intersect_pts_x + (20 + i) * actual_compute_box_num,
(T *)temp1_ram, (T *)rotated_pts2_x + i * actual_compute_box_num,
actual_compute_box_num);
__bang_mul((T *)intersect_pts_y + (20 + i) * actual_compute_box_num,
(T *)temp1_ram, (T *)rotated_pts2_y + i * actual_compute_box_num,
actual_compute_box_num);
// assign valid_pts bit and accumulate nums of valid points of each box pair
__bang_or((T *)valid_pts + (20 + i) * actual_compute_box_num,
(T *)valid_pts + (20 + i) * actual_compute_box_num,
(T *)temp1_ram, actual_compute_box_num);
__bang_add((T *)nums_in_ram, (T *)nums_in_ram, (T *)temp1_ram,
actual_compute_box_num);
}
}
template <typename T>
__mlu_func__ void convexHullGraham(
T *intersect_pts_x, T *intersect_pts_y, T *ordered_pts_x, T *ordered_pts_y,
T *dist_ram, T *valid_box, T *valid_pts, T *nums_in_ram, T *temp1_ram,
T *temp2_ram, T *temp3_ram, T *temp_long_1, T *temp_long_2, T *temp_long_3,
const uint32_t &actual_box_num, const uint32_t &actual_compute_box_num) {
// Step1. Find the point with minimum y, if more than 1 points have the same
// minimum y,
// pick the one with the minimum x.
// set p[i].y to max_y_value if not valid_pts, to avoid invalid result
// 24 means all possible intersection points
__bang_max((T *)temp2_ram, (T *)intersect_pts_y, 24 * actual_compute_box_num);
__bang_write_value((T *)temp3_ram, COMPUTE_COUNT_ALIGN, ((T *)temp2_ram)[0]);
__bang_not((T *)temp_long_1, (T *)valid_pts, 24 * actual_compute_box_num);
__bang_cycle_mul((T *)temp_long_1, (T *)temp_long_1, (T *)temp3_ram,
24 * actual_compute_box_num, COMPUTE_COUNT_ALIGN);
__bang_mul((T *)temp_long_2, (T *)intersect_pts_y, (T *)valid_pts,
24 * actual_compute_box_num);
__bang_add((T *)temp_long_2, (T *)temp_long_2, (T *)temp_long_1,
24 * actual_compute_box_num);
// temp2 = min_y_value(temp_long_2), use min_pool, channel=box_num, h=1, w=24
__bang_minpool((T *)temp2_ram, (T *)temp_long_2, actual_compute_box_num, 1,
24, 1, 24, 1, 24);
__bang_mul((T *)temp2_ram, (T *)temp2_ram, (T *)valid_box,
actual_compute_box_num);
// set p[i].x to max_x_value if not min_y point
__bang_max((T *)temp1_ram, (T *)intersect_pts_x, 24 * actual_compute_box_num);
__bang_write_value((T *)temp3_ram, COMPUTE_COUNT_ALIGN, ((T *)temp1_ram)[0]);
__bang_cycle_eq((T *)temp_long_1, (T *)temp_long_2, (T *)temp2_ram,
24 * actual_compute_box_num, actual_compute_box_num);
__bang_and((T *)temp_long_1, (T *)temp_long_1, (T *)valid_pts,
24 * actual_compute_box_num);
__bang_not((T *)temp_long_3, (T *)temp_long_1, 24 * actual_compute_box_num);
__bang_cycle_mul((T *)temp_long_3, (T *)temp_long_3, (T *)temp3_ram,
24 * actual_compute_box_num, COMPUTE_COUNT_ALIGN);
__bang_mul((T *)temp_long_1, (T *)intersect_pts_x, (T *)temp_long_1,
24 * actual_compute_box_num);
__bang_add((T *)temp_long_1, (T *)temp_long_1, (T *)temp_long_3,
24 * actual_compute_box_num);
// temp3 = min_x_value(temp_long_1), use min_pool, channel=box_num, h=1, w=24
__bang_minpool((T *)temp3_ram, (T *)temp_long_1, actual_compute_box_num, 1,
24, 1, 24, 1, 24);
__bang_mul((T *)temp3_ram, (T *)temp3_ram, (T *)valid_box,
actual_compute_box_num);
// Step2. All points subtract starting-point (for sorting in the next step)
__bang_cycle_sub((T *)ordered_pts_x, (T *)intersect_pts_x, (T *)temp3_ram,
24 * actual_compute_box_num, actual_compute_box_num);
__bang_cycle_sub((T *)ordered_pts_y, (T *)intersect_pts_y, (T *)temp2_ram,
24 * actual_compute_box_num, actual_compute_box_num);
__bang_mul((T *)ordered_pts_x, (T *)ordered_pts_x, (T *)valid_pts,
24 * actual_compute_box_num);
__bang_mul((T *)ordered_pts_y, (T *)ordered_pts_y, (T *)valid_pts,
24 * actual_compute_box_num);
// Step3. Sort every intersection point according to their relative
// cross-product values (essentially sorting according to angles)
// If the angles are the same, sort according to distance to origin
dot2d<T>((T *)dist_ram, (T *)ordered_pts_x, (T *)ordered_pts_y,
(T *)ordered_pts_x, (T *)ordered_pts_y, 24 * actual_compute_box_num,
(T *)temp_long_3);
T temp, temp_nums_in, temp_dist_1, temp_dist_2;
T temp1_x, temp1_y;
T temp2_x, temp2_y;
for (int i = 0; i < actual_box_num; i++) {
if (((T *)valid_box)[i]) {
// make sure all nums_in[i] points are at the front
for (int ii = 0; ii < 23; ii++) {
for (int jj = ii + 1; jj < 24; jj++) {
int ii_index = ii * actual_compute_box_num + i;
int jj_index = jj * actual_compute_box_num + i;
// ii point is not valid and jj point is valid, swap jj for ii
if ((!((T *)valid_pts)[ii_index]) && ((T *)valid_pts)[jj_index]) {
((T *)ordered_pts_x)[ii_index] = ((T *)ordered_pts_x)[jj_index];
((T *)ordered_pts_y)[ii_index] = ((T *)ordered_pts_y)[jj_index];
((T *)dist_ram)[ii_index] = ((T *)dist_ram)[jj_index];
((T *)valid_pts)[ii_index] = true;
((T *)ordered_pts_x)[jj_index] = 0;
((T *)ordered_pts_y)[jj_index] = 0;
((T *)dist_ram)[jj_index] = 0;
((T *)valid_pts)[jj_index] = false;
break;
}
}
}
temp_nums_in = ((T *)nums_in_ram)[i];
// make original q[0] = min_x, min_y before sort
for (int ii = 1; ii < temp_nums_in; ii++) {
int ii_index = ii * actual_compute_box_num + i;
if (((T *)dist_ram)[ii_index] == 0) {
// swap q[ii_index] and q[0]
((T *)ordered_pts_x)[ii_index] = ((T *)ordered_pts_x)[i];
((T *)ordered_pts_y)[ii_index] = ((T *)ordered_pts_y)[i];
((T *)dist_ram)[ii_index] = ((T *)dist_ram)[i];
((T *)ordered_pts_x)[i] = 0;
((T *)ordered_pts_y)[i] = 0;
((T *)dist_ram)[i] = 0;
break;
}
}
for (int ii = 1; ii < temp_nums_in - 1; ii++) {
for (int jj = ii + 1; jj < temp_nums_in; jj++) {
int ii_index = ii * actual_compute_box_num + i;
int jj_index = jj * actual_compute_box_num + i;
temp1_x = ((T *)ordered_pts_x)[ii_index];
temp1_y = ((T *)ordered_pts_y)[ii_index];
temp2_x = ((T *)ordered_pts_x)[jj_index];
temp2_y = ((T *)ordered_pts_y)[jj_index];
// calculate cross product and sort q (ordered_pts)
temp = (temp1_x * temp2_y) - (temp1_y * temp2_x);
temp_dist_1 = ((T *)dist_ram)[ii_index];
temp_dist_2 = ((T *)dist_ram)[jj_index];
if ((temp < (T)-1e-6) ||
((fabs(temp) < (T)1e-6) && (temp_dist_1 > temp_dist_2))) {
((T *)ordered_pts_x)[ii_index] = temp2_x;
((T *)ordered_pts_y)[ii_index] = temp2_y;
((T *)ordered_pts_x)[jj_index] = temp1_x;
((T *)ordered_pts_y)[jj_index] = temp1_y;
((T *)dist_ram)[ii_index] = temp_dist_2;
((T *)dist_ram)[jj_index] = temp_dist_1;
}
}
}
// Step4:
// Make sure there are at least 2 points(that don't overlap with each
// other) in the stack
int k; // index of the non-overlapped second point
for (k = 1; k < temp_nums_in; k++) {
if (((T *)dist_ram)[k * actual_compute_box_num + i] > (T)1e-8) {
break;
}
}
if (k == temp_nums_in) {
// We reach the end, which means the convex hull is just one point
// set valid_box = 0, to get ious = 0
((T *)valid_box)[i] = 0;
continue;
}
// q[1] = q[k];
((T *)ordered_pts_x)[actual_compute_box_num + i] =
((T *)ordered_pts_x)[k * actual_compute_box_num + i];
((T *)ordered_pts_y)[actual_compute_box_num + i] =
((T *)ordered_pts_y)[k * actual_compute_box_num + i];
// Step 5:
// Finally we can start the scanning process.
// When a non-convex relationship between the 3 points is found
// (either concave shape or duplicated points),
// we pop the previous point from the stack
// until the 3-point relationship is convex again, or
// until the stack only contains two points
int m = 2; // 2 points in the stack
for (int j = k + 1; j < temp_nums_in; j++) {
// while (m > 1 && cross2d<T>(q[j] - q[m - 2], q[m - 1] - q[m - 2]) >=
// 0) {
// m--;
// }
temp1_x = ((T *)ordered_pts_x)[j * actual_compute_box_num + i] -
((T *)ordered_pts_x)[(m - 2) * actual_compute_box_num + i];
temp1_y = ((T *)ordered_pts_y)[j * actual_compute_box_num + i] -
((T *)ordered_pts_y)[(m - 2) * actual_compute_box_num + i];
temp2_x = ((T *)ordered_pts_x)[(m - 1) * actual_compute_box_num + i] -
((T *)ordered_pts_x)[(m - 2) * actual_compute_box_num + i];
temp2_y = ((T *)ordered_pts_y)[(m - 1) * actual_compute_box_num + i] -
((T *)ordered_pts_y)[(m - 2) * actual_compute_box_num + i];
temp = (temp1_x * temp2_y) - (temp1_y * temp2_x);
while ((m > 1) && (temp >= 0)) {
m--;
if (m > 1) {
temp1_x =
((T *)ordered_pts_x)[j * actual_compute_box_num + i] -
((T *)ordered_pts_x)[(m - 2) * actual_compute_box_num + i];
temp1_y =
((T *)ordered_pts_y)[j * actual_compute_box_num + i] -
((T *)ordered_pts_y)[(m - 2) * actual_compute_box_num + i];
temp2_x =
((T *)ordered_pts_x)[(m - 1) * actual_compute_box_num + i] -
((T *)ordered_pts_x)[(m - 2) * actual_compute_box_num + i];
temp2_y =
((T *)ordered_pts_y)[(m - 1) * actual_compute_box_num + i] -
((T *)ordered_pts_y)[(m - 2) * actual_compute_box_num + i];
temp = (temp1_x * temp2_y) - (temp1_y * temp2_x);
}
}
// q[m++] = q[j];
((T *)ordered_pts_x)[m * actual_compute_box_num + i] =
((T *)ordered_pts_x)[j * actual_compute_box_num + i];
((T *)ordered_pts_y)[m * actual_compute_box_num + i] =
((T *)ordered_pts_y)[j * actual_compute_box_num + i];
m++;
}
// set last(24-m) valid_pts to false, to erase invalid q in polygon area
for (int j = m; j < temp_nums_in; j++) {
((T *)valid_pts)[j * actual_compute_box_num + i] = 0;
}
((T *)nums_in_ram)[i] = m;
}
}
}
template <typename T>
__mlu_func__ void polygonArea(T *ordered_pts_x, T *ordered_pts_y, T *valid_box,
T *valid_pts, T *nums_in_ram, T *temp1_ram,
T *temp2_ram, T *temp3_ram, T *temp4_ram,
T *temp5_ram, T *temp6_ram, T *temp7_ram,
T *temp8_ram, T *temp9_ram,
const uint32_t &actual_compute_box_num) {
// Set where nums_in <= 2, valid_box = false
__bang_write_value((T *)temp9_ram, COMPUTE_COUNT_ALIGN, (T)2);
__bang_cycle_gt((T *)temp1_ram, (T *)nums_in_ram, (T *)temp9_ram,
actual_compute_box_num, COMPUTE_COUNT_ALIGN);
__bang_and((T *)valid_box, (T *)valid_box, (T *)temp1_ram,
actual_compute_box_num);
// temp1 = area, initialize with all 0
__bang_write_zero((T *)temp1_ram, actual_compute_box_num);
__bang_max((T *)temp7_ram, (T *)nums_in_ram, actual_compute_box_num);
// temp_nums_in = max(nums_in)
T temp_nums_in = ((T *)temp7_ram)[0];
for (int i = 1; i < temp_nums_in - 1; i++) {
// q[i] - q[0]: (temp6, temp7)
__bang_sub((T *)temp6_ram, (T *)ordered_pts_x + i * actual_compute_box_num,
(T *)ordered_pts_x, actual_compute_box_num);
__bang_sub((T *)temp7_ram, (T *)ordered_pts_y + i * actual_compute_box_num,
(T *)ordered_pts_y, actual_compute_box_num);
__bang_mul((T *)temp6_ram, (T *)temp6_ram,
(T *)valid_pts + (i + 1) * actual_compute_box_num,
actual_compute_box_num);
__bang_mul((T *)temp7_ram, (T *)temp7_ram,
(T *)valid_pts + (i + 1) * actual_compute_box_num,
actual_compute_box_num);
// q[i + 1] - q[0]: (temp8, temp9)
__bang_sub((T *)temp8_ram,
(T *)ordered_pts_x + (i + 1) * actual_compute_box_num,
(T *)ordered_pts_x, actual_compute_box_num);
__bang_sub((T *)temp9_ram,
(T *)ordered_pts_y + (i + 1) * actual_compute_box_num,
(T *)ordered_pts_y, actual_compute_box_num);
__bang_mul((T *)temp8_ram, (T *)temp8_ram,
(T *)valid_pts + (i + 1) * actual_compute_box_num,
actual_compute_box_num);
__bang_mul((T *)temp9_ram, (T *)temp9_ram,
(T *)valid_pts + (i + 1) * actual_compute_box_num,
actual_compute_box_num);
// area += fabs(cross2d<T>(q[i] - q[0], q[i + 1] - q[0]));
__bang_mul((T *)temp4_ram, (T *)temp6_ram, (T *)temp9_ram,
actual_compute_box_num);
__bang_mul((T *)temp5_ram, (T *)temp7_ram, (T *)temp8_ram,
actual_compute_box_num);
__bang_sub((T *)temp3_ram, (T *)temp4_ram, (T *)temp5_ram,
actual_compute_box_num);
__bang_active_abs((T *)temp3_ram, (T *)temp3_ram, actual_compute_box_num);
__bang_add((T *)temp1_ram, (T *)temp1_ram, (T *)temp3_ram,
actual_compute_box_num);
}
// Set where valid_box = false, intersection = 0
__bang_mul((T *)temp1_ram, (T *)temp1_ram, (T *)valid_box,
actual_compute_box_num);
// area = area / 2.0
__bang_mul_scalar((T *)temp1_ram, (T *)temp1_ram, (T)0.5,
actual_compute_box_num);
}
#endif // IOU3D_UTILS_HPP_
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