IoU.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include "ml/contrib/IoU.h"
 
#include <tbb/parallel_for.h>
 
#include "ml/contrib/IoUImpl.h"
 
namespace cloudViewer {
namespace ml {
namespace contrib {
 
void IoUBevCPUKernel(const float *boxes_a,
                     const float *boxes_b,
                     float *iou,
                     int num_a,
                     int num_b) {
    tbb::parallel_for(0, num_a, [&](int idx_a) {
        tbb::parallel_for(0, num_b, [&](int idx_b) {
            const float *box_a = boxes_a + idx_a * 5;
            const float *box_b = boxes_b + idx_b * 5;
            float *out = iou + idx_a * num_b + idx_b;
            *out = IoUBev2DWithCenterAndSize(box_a, box_b);
        });
    });
}
 
void IoU3dCPUKernel(const float *boxes_a,
                    const float *boxes_b,
                    float *iou,
                    int num_a,
                    int num_b) {
    tbb::parallel_for(0, num_a, [&](int idx_a) {
        tbb::parallel_for(0, num_b, [&](int idx_b) {
            const float *box_a = boxes_a + idx_a * 7;
            const float *box_b = boxes_b + idx_b * 7;
            float *out = iou + idx_a * num_b + idx_b;
            *out = IoU3DWithCenterAndSize(box_a, box_b);
        });
    });
}
 
}  // namespace contrib
}  // namespace ml
}  // namespace cloudViewer