mirror of
https://github.com/PaddlePaddle/FastDeploy.git
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273 lines
8.3 KiB
C++
273 lines
8.3 KiB
C++
// Copyright (c) 2022 PaddlePaddle Authors. All Rights Reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/*
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3D Rotated IoU Calculation (CPU)
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Written by Shaoshuai Shi
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All Rights Reserved 2020.
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*/
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#include "iou3d_cpu.h"
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#include <math.h>
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#include <stdio.h>
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#include <vector>
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namespace fastdeploy {
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namespace paddle_custom_ops {
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static inline float min(float a, float b) { return a > b ? b : a; }
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static inline float max(float a, float b) { return a > b ? a : b; }
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#if defined(_WIN32)
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#if defined(EPS)
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#undef EPS
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#endif
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#define EPS 1e-8
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#else
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static const float EPS = 1e-8;
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#endif
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struct Point {
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float x, y;
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Point() {}
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Point(double _x, double _y) { x = _x, y = _y; }
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void set(float _x, float _y) {
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x = _x;
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y = _y;
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}
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Point operator+(const Point &b) const {
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return Point(x + b.x, y + b.y);
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}
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Point operator-(const Point &b) const {
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return Point(x - b.x, y - b.y);
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}
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};
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static inline float cross(const Point &a, const Point &b) {
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return a.x * b.y - a.y * b.x;
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}
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static inline float cross(const Point &p1, const Point &p2, const Point &p0) {
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return (p1.x - p0.x) * (p2.y - p0.y) - (p2.x - p0.x) * (p1.y - p0.y);
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}
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static inline int check_rect_cross(const Point &p1, const Point &p2, const Point &q1,
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const Point &q2) {
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int ret = min(p1.x, p2.x) <= max(q1.x, q2.x) &&
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min(q1.x, q2.x) <= max(p1.x, p2.x) &&
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min(p1.y, p2.y) <= max(q1.y, q2.y) &&
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min(q1.y, q2.y) <= max(p1.y, p2.y);
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return ret;
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}
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static inline int check_in_box2d(const float *box, const Point &p) {
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// params: (7) [x, y, z, dx, dy, dz, heading]
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const float MARGIN = 1e-2;
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float center_x = box[0], center_y = box[1];
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float angle_cos = cos(-box[6]),
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angle_sin =
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sin(-box[6]); // rotate the point in the opposite direction of box
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float rot_x = (p.x - center_x) * angle_cos + (p.y - center_y) * (-angle_sin);
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float rot_y = (p.x - center_x) * angle_sin + (p.y - center_y) * angle_cos;
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return (fabs(rot_x) < box[3] / 2 + MARGIN &&
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fabs(rot_y) < box[4] / 2 + MARGIN);
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}
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static inline int intersection(const Point &p1, const Point &p0, const Point &q1,
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const Point &q0, Point &ans) {
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// fast exclusion
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if (check_rect_cross(p0, p1, q0, q1) == 0) return 0;
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// check cross standing
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float s1 = cross(q0, p1, p0);
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float s2 = cross(p1, q1, p0);
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float s3 = cross(p0, q1, q0);
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float s4 = cross(q1, p1, q0);
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if (!(s1 * s2 > 0 && s3 * s4 > 0)) return 0;
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// calculate intersection of two lines
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float s5 = cross(q1, p1, p0);
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if (fabs(s5 - s1) > EPS) {
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ans.x = (s5 * q0.x - s1 * q1.x) / (s5 - s1);
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ans.y = (s5 * q0.y - s1 * q1.y) / (s5 - s1);
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} else {
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float a0 = p0.y - p1.y, b0 = p1.x - p0.x, c0 = p0.x * p1.y - p1.x * p0.y;
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float a1 = q0.y - q1.y, b1 = q1.x - q0.x, c1 = q0.x * q1.y - q1.x * q0.y;
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float D = a0 * b1 - a1 * b0;
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ans.x = (b0 * c1 - b1 * c0) / D;
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ans.y = (a1 * c0 - a0 * c1) / D;
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}
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return 1;
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}
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static inline void rotate_around_center(const Point ¢er, const float angle_cos,
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const float angle_sin, Point &p) {
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float new_x =
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(p.x - center.x) * angle_cos + (p.y - center.y) * (-angle_sin) + center.x;
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float new_y =
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(p.x - center.x) * angle_sin + (p.y - center.y) * angle_cos + center.y;
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p.set(new_x, new_y);
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}
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static inline int point_cmp(const Point &a, const Point &b, const Point ¢er) {
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return atan2(a.y - center.y, a.x - center.x) >
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atan2(b.y - center.y, b.x - center.x);
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}
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static inline float box_overlap(const float *box_a, const float *box_b) {
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// params: box_a (7) [x, y, z, dx, dy, dz, heading]
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// params: box_b (7) [x, y, z, dx, dy, dz, heading]
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// float a_x1 = box_a[0], a_y1 = box_a[1], a_x2 = box_a[2], a_y2 =
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// box_a[3], a_angle = box_a[4];
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// float b_x1 = box_b[0], b_y1 = box_b[1], b_x2 = box_b[2], b_y2 =
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// box_b[3], b_angle = box_b[4];
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float a_angle = box_a[6], b_angle = box_b[6];
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float a_dx_half = box_a[3] / 2, b_dx_half = box_b[3] / 2,
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a_dy_half = box_a[4] / 2, b_dy_half = box_b[4] / 2;
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float a_x1 = box_a[0] - a_dx_half, a_y1 = box_a[1] - a_dy_half;
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float a_x2 = box_a[0] + a_dx_half, a_y2 = box_a[1] + a_dy_half;
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float b_x1 = box_b[0] - b_dx_half, b_y1 = box_b[1] - b_dy_half;
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float b_x2 = box_b[0] + b_dx_half, b_y2 = box_b[1] + b_dy_half;
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Point center_a(box_a[0], box_a[1]);
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Point center_b(box_b[0], box_b[1]);
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Point box_a_corners[5];
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box_a_corners[0].set(a_x1, a_y1);
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box_a_corners[1].set(a_x2, a_y1);
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box_a_corners[2].set(a_x2, a_y2);
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box_a_corners[3].set(a_x1, a_y2);
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Point box_b_corners[5];
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box_b_corners[0].set(b_x1, b_y1);
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box_b_corners[1].set(b_x2, b_y1);
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box_b_corners[2].set(b_x2, b_y2);
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box_b_corners[3].set(b_x1, b_y2);
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// get oriented corners
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float a_angle_cos = cos(a_angle), a_angle_sin = sin(a_angle);
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float b_angle_cos = cos(b_angle), b_angle_sin = sin(b_angle);
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for (int k = 0; k < 4; k++) {
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rotate_around_center(center_a, a_angle_cos, a_angle_sin, box_a_corners[k]);
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rotate_around_center(center_b, b_angle_cos, b_angle_sin, box_b_corners[k]);
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}
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box_a_corners[4] = box_a_corners[0];
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box_b_corners[4] = box_b_corners[0];
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// get intersection of lines
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Point cross_points[16];
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Point poly_center;
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int cnt = 0, flag = 0;
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poly_center.set(0, 0);
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for (int i = 0; i < 4; i++) {
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for (int j = 0; j < 4; j++) {
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flag = intersection(box_a_corners[i + 1], box_a_corners[i],
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box_b_corners[j + 1], box_b_corners[j],
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cross_points[cnt]);
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if (flag) {
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poly_center = poly_center + cross_points[cnt];
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cnt++;
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}
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}
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}
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// check corners
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for (int k = 0; k < 4; k++) {
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if (check_in_box2d(box_a, box_b_corners[k])) {
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poly_center = poly_center + box_b_corners[k];
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cross_points[cnt] = box_b_corners[k];
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cnt++;
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}
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if (check_in_box2d(box_b, box_a_corners[k])) {
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poly_center = poly_center + box_a_corners[k];
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cross_points[cnt] = box_a_corners[k];
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cnt++;
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}
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}
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poly_center.x /= cnt;
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poly_center.y /= cnt;
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// sort the points of polygon
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Point temp;
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for (int j = 0; j < cnt - 1; j++) {
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for (int i = 0; i < cnt - j - 1; i++) {
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if (point_cmp(cross_points[i], cross_points[i + 1], poly_center)) {
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temp = cross_points[i];
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cross_points[i] = cross_points[i + 1];
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cross_points[i + 1] = temp;
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}
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}
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}
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// get the overlap areas
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float area = 0;
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for (int k = 0; k < cnt - 1; k++) {
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area += cross(cross_points[k] - cross_points[0],
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cross_points[k + 1] - cross_points[0]);
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}
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return fabs(area) / 2.0;
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}
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static inline float iou_bev(const float *box_a, const float *box_b) {
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// params: box_a (7) [x, y, z, dx, dy, dz, heading]
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// params: box_b (7) [x, y, z, dx, dy, dz, heading]
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float sa = box_a[3] * box_a[4];
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float sb = box_b[3] * box_b[4];
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float s_overlap = box_overlap(box_a, box_b);
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return s_overlap / fmaxf(sa + sb - s_overlap, EPS);
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}
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int boxes_iou_bev_cpu(paddle::Tensor boxes_a_tensor,
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paddle::Tensor boxes_b_tensor,
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paddle::Tensor ans_iou_tensor) {
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// params boxes_a_tensor: (N, 7) [x, y, z, dx, dy, dz, heading]
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// params boxes_b_tensor: (M, 7) [x, y, z, dx, dy, dz, heading]
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// params ans_iou_tensor: (N, M)
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// CHECK_CONTIGUOUS(boxes_a_tensor);
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// CHECK_CONTIGUOUS(boxes_b_tensor);
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int num_boxes_a = boxes_a_tensor.shape()[0];
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int num_boxes_b = boxes_b_tensor.shape()[0];
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const float *boxes_a = boxes_a_tensor.data<float>();
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const float *boxes_b = boxes_b_tensor.data<float>();
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float *ans_iou = ans_iou_tensor.data<float>();
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for (int i = 0; i < num_boxes_a; i++) {
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for (int j = 0; j < num_boxes_b; j++) {
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ans_iou[i * num_boxes_b + j] = iou_bev(boxes_a + i * 7, boxes_b + j * 7);
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}
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}
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return 1;
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}
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} // namespace fastdeploy
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} // namespace paddle_custom_ops
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