modularization/src/detection/laneATT_trt/nms.cpp

/* Copyright (c) 2018, Grégoire Payen de La Garanderie, Durham University
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 * * Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
 * * Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include <torch/extension.h>
#include <torch/types.h>
#include <iostream>

std::vector<at::Tensor> nms_cuda_forward(
        at::Tensor boxes,
        at::Tensor idx,
        float nms_overlap_thresh,
        unsigned long top_k);

#define CHECK_CUDA(x) AT_ASSERTM(x.type().is_cuda(), #x " must be a CUDA tensor")
#define CHECK_CONTIGUOUS(x) AT_ASSERTM(x.is_contiguous(), #x " must be contiguous")
#define CHECK_INPUT(x) CHECK_CUDA(x); CHECK_CONTIGUOUS(x)

std::vector<at::Tensor> nms_forward(
        at::Tensor boxes,
        at::Tensor scores,
        float thresh,
        unsigned long top_k) {


    auto idx = std::get<1>(scores.sort(0,true));

    CHECK_INPUT(boxes);
    CHECK_INPUT(idx);

    return nms_cuda_forward(boxes, idx, thresh, top_k);
}

PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {
    m.def("nms_forward", &nms_forward, "NMS");
}