[Feature] Support Iou3d with cambricon MLU backend (#2339)

* [Feature] Support Iou3d with cambricon MLU backend

* [Feature] add double line

* [Feature] add line

docs/en/understand_mmcv/ops.md

@@ -26,7 +26,7 @@ We implement common ops used in detection, segmentation, etc.
 | FusedBiasLeakyrelu           |     | √    |     |     |
 | GatherPoints                 |     | √    |     |     |
 | GroupPoints                  |     | √    |     |     |
-| Iou3d                        |     | √    |     |     |
+| Iou3d                        |     | √    | √   |     |
 | KNN                          |     | √    |     |     |
 | MaskedConv                   |     | √    | √   |     |
 | MergeCells                   |     | √    |     |     |

docs/zh_cn/understand_mmcv/ops.md

@@ -26,7 +26,7 @@ MMCV 提供了检测、分割等任务中常用的算子
 | FusedBiasLeakyrelu           |     | √    |     |     |
 | GatherPoints                 |     | √    |     |     |
 | GroupPoints                  |     | √    |     |     |
-| Iou3d                        |     | √    |     |     |
+| Iou3d                        |     | √    | √   |     |
 | KNN                          |     | √    |     |     |
 | MaskedConv                   |     | √    | √   |     |
 | MergeCells                   |     | √    |     |     |

mmcv/ops/csrc/common/mlu/iou3d_mlu_kernel.mlu

+/*************************************************************************
+ * 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.
+ *************************************************************************/
+
+#include "common_mlu_helper.hpp"
+#include "iou3d_utils.hpp"
+
+#define SIZE_SRAM_BUF (MAX_SRAM_SIZE)
+
+/* NRAM buffer
+ * Suppose deal N boxes once time.
+----------------------------------------------------------------
+| Basic |score (1N)+       |intersect_pts(48N)|                |
+|       |valid_box(1N)     |+ ordered_pts(48N)| temp_long(72N) |
+|       |+ temp_buffer(10N)|                  |                |
+|--------------------------|------------------|----------------|
+| Reuse |     null         |     null         |rotated_pts(16N)|
+|-------|------------------|------------------|----------------|
+
+---------------------------------------------------------------------------
+| Basic |  dist_ram(24N)   | valid_pts(24N)  |box1(5N)  |box1_buffer(5KB) |
+|       |                  |+ nums_in_ram(1N)|+ box2(5N)|+nram_save(5KB)  |
+|--------------------------|-----------------|----------|-----------------|
+| Reuse |  vec_buffer(5N)  |    null         |   null   |      null       |
+|-------|------------------|-----------------|----------|-----------------|
+Total Basic Memory Size = 239N * sizeof(float) + 10KB
+*/
+
+__nram__ char nram_buffer[MAX_NRAM_SIZE];
+__mlu_shared__ char sram_buffer[SIZE_SRAM_BUF];
+
+template <typename T>
+__mlu_func__ void iou3D_detection(int32_t &result_box_num, int32_t *output_data,
+                                  const T *boxes_data, float *scores_data,
+                                  const int core_limit, const int input_box_num,
+                                  const float iou_threshold,
+                                  mluMemcpyDirection_t scores_load_dir,
+                                  mluMemcpyDirection_t scores_store_dir,
+                                  mluMemcpyDirection_t boxes_load_dir) {
+  // NRAM divide by (2+4*COMPUTE_COUNT_ALIGN) copies of NRAM, counted by bytes
+  const int nram_save_limit_count = 256;
+  int box_read_limit_count = 256;
+  float div_thresh_iou = 1.0 / iou_threshold;
+  // every box require 239 * sizeof(float) space in nram;
+  const int32_t copies_of_nram = 239 * sizeof(float);
+  const int32_t limit = (MAX_NRAM_SIZE - 5 * box_read_limit_count * sizeof(T) -
+                         nram_save_limit_count * sizeof(int32_t)) /
+                        copies_of_nram;
+
+  // x,y,z,dx,dy,dz,angle
+  const T *input_x_ptr = boxes_data;
+  const T *input_y_ptr = input_x_ptr + input_box_num;
+  const T *input_dx_ptr = input_y_ptr + 2 * input_box_num;
+  const T *input_dy_ptr = input_dx_ptr + input_box_num;
+  const T *input_angle_ptr = input_dy_ptr + 2 * input_box_num;
+  float *input_score_ptr = scores_data;
+
+  // data split
+  int avg_cluster = 0;
+  int rem_cluster = 0;
+  int len_cluster = 0;
+  int cluster_offset = 0;
+  if (clusterDim > 0) {
+    // union
+    avg_cluster = input_box_num / clusterDim;
+    rem_cluster = input_box_num % clusterDim;
+    len_cluster = avg_cluster + (clusterId < rem_cluster ? 1 : 0);
+    cluster_offset = avg_cluster * clusterId +
+                     (clusterId <= rem_cluster ? clusterId : rem_cluster);
+  } else {
+    // block
+    len_cluster = input_box_num;
+    cluster_offset = 0;
+  }
+  int len_core = input_box_num;
+  int input_offset = 0;
+  if (core_limit > 1) {
+    int avg_core = len_cluster / coreDim;
+    int rem_core = len_cluster % coreDim;
+    len_core = avg_core + (coreId < rem_core ? 1 : 0);
+    int core_offset =
+        avg_core * coreId + (coreId <= rem_core ? coreId : rem_core);
+    input_offset = cluster_offset + core_offset;
+  }
+
+  int32_t max_seg_pad = IOU3D_DOWN(limit, IOU3D_SIZE);
+  int repeat_iou_compute = len_core / max_seg_pad;
+  int remain_iou_compute = len_core % max_seg_pad;
+
+  // basic consistent memory layout
+  void *score = ((char *)nram_buffer);
+  void *valid_box = ((char *)score) + 1 * max_seg_pad * sizeof(float);
+  void *temp_buffer = ((char *)valid_box) + 1 * max_seg_pad * sizeof(float);
+  void *intersect_pts_x =
+      ((char *)temp_buffer) + 10 * max_seg_pad * sizeof(float);
+  void *intersect_pts_y =
+      ((char *)intersect_pts_x) + 24 * max_seg_pad * sizeof(float);
+  void *ordered_pts_x =
+      ((char *)intersect_pts_y) + 24 * max_seg_pad * sizeof(float);
+  void *ordered_pts_y =
+      ((char *)ordered_pts_x) + 24 * max_seg_pad * sizeof(float);
+  void *temp_long_1 =
+      ((char *)ordered_pts_y) + 24 * max_seg_pad * sizeof(float);
+  void *temp_long_2 = ((char *)temp_long_1) + 24 * max_seg_pad * sizeof(float);
+  void *temp_long_3 = ((char *)temp_long_2) + 24 * max_seg_pad * sizeof(float);
+  void *dist_ram = ((char *)temp_long_3) + 24 * max_seg_pad * sizeof(float);
+  void *valid_pts = ((char *)dist_ram) + 24 * max_seg_pad * sizeof(float);
+  void *nums_in_ram = ((char *)valid_pts) + 24 * max_seg_pad * sizeof(float);
+  T *box1 = (T *)(((char *)nums_in_ram) + 1 * max_seg_pad * sizeof(float));
+  T *box2 = (T *)(((char *)box1) + 5 * max_seg_pad * sizeof(float));
+  void *box1_buffer = ((char *)box2) + 5 * max_seg_pad * sizeof(float);
+  int32_t *nram_save =
+      (int32_t *)(((char *)box1_buffer) + 5 * box_read_limit_count * sizeof(T));
+  // nram_save ~ nram_save_limit_count * sizeof(int32_t)
+  int nram_save_count = 0;
+
+  // reuse memory
+  void *rotated_pts1_x = ((char *)dist_ram);
+  void *rotated_pts1_y =
+      ((char *)rotated_pts1_x) + 4 * max_seg_pad * sizeof(float);
+  void *rotated_pts2_x =
+      ((char *)rotated_pts1_y) + 4 * max_seg_pad * sizeof(float);
+  void *rotated_pts2_y =
+      ((char *)rotated_pts2_x) + 4 * max_seg_pad * sizeof(float);
+  void *vec_buffer = ((char *)temp_long_1) + 5 * max_seg_pad * sizeof(float);
+  // vec_buffer ~ 16 * max_seg_pad * sizeof(float)
+
+  // First, initialize ram with all 0, or could cause nan/inf unexcepted results
+  __bang_write_zero((unsigned char *)nram_buffer, copies_of_nram * max_seg_pad);
+  // number 8 and 0xff relay on box_read_limit_count initial as 256
+  const int max_box_seg_id = (input_box_num - 1) >> 8;
+  const int last_rem_box_number = ((input_box_num - 1) & 0xff) + 1;
+  for (int32_t cur_box = 0; cur_box < input_box_num; ++cur_box) {
+    __sync_all();
+    int box_seg_id = cur_box >> 8, box_id = cur_box & 0xff;
+    box_read_limit_count = box_seg_id == max_box_seg_id ? last_rem_box_number
+                                                        : box_read_limit_count;
+    if (box_id == 0) {
+      // x,y,z,dx,dy,dz,angle
+      int offset_num = box_seg_id << 8;
+      // x
+      __memcpy((char *)box1_buffer, input_x_ptr + offset_num,
+               box_read_limit_count * 1 * sizeof(T), boxes_load_dir,
+               box_read_limit_count * 1 * sizeof(T),
+               box_read_limit_count * 1 * sizeof(T), 0);
+      // y
+      __memcpy((char *)box1_buffer + box_read_limit_count * 1 * sizeof(T),
+               input_y_ptr + offset_num, box_read_limit_count * 1 * sizeof(T),
+               boxes_load_dir, box_read_limit_count * 1 * sizeof(T),
+               box_read_limit_count * 1 * sizeof(T), 0);
+      // dx
+      __memcpy((char *)box1_buffer + box_read_limit_count * 2 * sizeof(T),
+               input_dx_ptr + offset_num, box_read_limit_count * 1 * sizeof(T),
+               boxes_load_dir, box_read_limit_count * 1 * sizeof(T),
+               box_read_limit_count * 1 * sizeof(T), 0);
+      // dy
+      __memcpy((char *)box1_buffer + box_read_limit_count * 3 * sizeof(T),
+               input_dy_ptr + offset_num, box_read_limit_count * 1 * sizeof(T),
+               boxes_load_dir, box_read_limit_count * 1 * sizeof(T),
+               box_read_limit_count * 1 * sizeof(T), 0);
+      // angle
+      __memcpy((char *)box1_buffer + box_read_limit_count * 4 * sizeof(T),
+               input_angle_ptr + offset_num,
+               box_read_limit_count * 1 * sizeof(T), boxes_load_dir,
+               box_read_limit_count * 1 * sizeof(T),
+               box_read_limit_count * 1 * sizeof(T), 0);
+    }
+    if (((float *)input_score_ptr)[cur_box] == 0) {
+      continue;
+    }
+    // save result
+    nram_save[nram_save_count] = cur_box;
+    result_box_num++;
+    nram_save_count++;
+    if (clusterId == 0 && coreId == 0 &&
+        nram_save_count == nram_save_limit_count) {
+      pvLock();
+      __memcpy(output_data, nram_save, nram_save_count * sizeof(int32_t),
+               NRAM2GDRAM);
+      pvUnlock();
+      output_data += nram_save_count;
+      nram_save_count = 0;
+    }
+    // prepare box1
+    // x
+    __bang_write_value((float *)box1, max_seg_pad,
+                       float(((T *)box1_buffer)[box_id]));
+    // y
+    __bang_write_value(
+        (float *)box1 + max_seg_pad, max_seg_pad,
+        float(((T *)box1_buffer)[box_id + 1 * box_read_limit_count]));
+    // dx
+    __bang_write_value(
+        (float *)box1 + max_seg_pad * 2, max_seg_pad,
+        float(((T *)box1_buffer)[box_id + 2 * box_read_limit_count]));
+    // dy
+    __bang_write_value(
+        (float *)box1 + max_seg_pad * 3, max_seg_pad,
+        float(((T *)box1_buffer)[box_id + 3 * box_read_limit_count]));
+    // angle
+    __bang_write_value(
+        (float *)box1 + max_seg_pad * 4, max_seg_pad,
+        float(((T *)box1_buffer)[box_id + 4 * box_read_limit_count]));
+
+    float max_area = 1.0f *
+                     ((T *)box1_buffer)[box_id + 2 * box_read_limit_count] *
+                     ((T *)box1_buffer)[box_id + 3 * box_read_limit_count];
+    // update score
+
+    for (int i = 0; i <= repeat_iou_compute; i++) {
+      if (i == repeat_iou_compute && remain_iou_compute == 0) {
+        break;
+      }
+      int seg_len = max_seg_pad;
+      int cpy_len =
+          (i == repeat_iou_compute) ? remain_iou_compute : max_seg_pad;
+      // int half_offset = std::is_same<T, half>::value ? max_seg_pad * 5 : 0;
+      int half_offset = (sizeof(T) == sizeof(half)) ? max_seg_pad * 5 : 0;
+      // score
+      __memcpy(score, input_score_ptr + input_offset + i * max_seg_pad,
+               cpy_len * sizeof(float), scores_load_dir,
+               cpy_len * sizeof(float), cpy_len * sizeof(float), 0);
+      // x
+      __memcpy(box2 + half_offset, input_x_ptr + input_offset + i * max_seg_pad,
+               cpy_len * 1 * sizeof(T), boxes_load_dir, cpy_len * 1 * sizeof(T),
+               cpy_len * 1 * sizeof(T), 0);
+      // y
+      __memcpy(box2 + half_offset + seg_len * 1,
+               input_y_ptr + input_offset + i * max_seg_pad,
+               cpy_len * 1 * sizeof(T), boxes_load_dir, cpy_len * 1 * sizeof(T),
+               cpy_len * 1 * sizeof(T), 0);
+      // dx
+      __memcpy(box2 + half_offset + seg_len * 2,
+               input_dx_ptr + input_offset + i * max_seg_pad,
+               cpy_len * 1 * sizeof(T), boxes_load_dir, cpy_len * 1 * sizeof(T),
+               cpy_len * 1 * sizeof(T), 0);
+      // dy
+      __memcpy(box2 + half_offset + seg_len * 3,
+               input_dy_ptr + input_offset + i * max_seg_pad,
+               cpy_len * 1 * sizeof(T), boxes_load_dir, cpy_len * 1 * sizeof(T),
+               cpy_len * 1 * sizeof(T), 0);
+      // angle
+      __memcpy(box2 + half_offset + seg_len * 4,
+               input_angle_ptr + input_offset + i * max_seg_pad,
+               cpy_len * 1 * sizeof(T), boxes_load_dir, cpy_len * 1 * sizeof(T),
+               cpy_len * 1 * sizeof(T), 0);
+      // if (std::is_same<T, half>::value) {
+      if (sizeof(T) == sizeof(half)) {
+        __bang_half2float((float *)box2, (half *)(box2 + half_offset),
+                          seg_len * 5);
+      }
+
+      // Calculate rotated vertices
+      void *temp1_ram = ((char *)temp_buffer);
+      void *temp2_ram = ((char *)temp_buffer) + seg_len * sizeof(float);
+      void *temp3_ram = ((char *)temp_buffer) + 2 * seg_len * sizeof(float);
+      void *temp4_ram = ((char *)temp_buffer) + 3 * seg_len * sizeof(float);
+      getRotatedVertices((float *)rotated_pts1_x, (float *)rotated_pts1_y,
+                         (float *)box1, (float *)temp1_ram, (float *)temp2_ram,
+                         (float *)temp3_ram, (float *)temp4_ram, seg_len);
+      getRotatedVertices((float *)rotated_pts2_x, (float *)rotated_pts2_y,
+                         (float *)box2, (float *)temp1_ram, (float *)temp2_ram,
+                         (float *)temp3_ram, (float *)temp4_ram, seg_len);
+
+      __bang_write_zero((float *)valid_pts, 24 * seg_len);
+      __bang_write_zero((float *)nums_in_ram, seg_len);
+      __bang_write_value(((float *)valid_box), seg_len, 1.0f);
+      void *vec1_x = ((char *)vec_buffer);
+      void *vec1_y = ((char *)vec1_x) + 4 * seg_len * sizeof(float);
+      void *vec2_x = ((char *)vec1_y) + 4 * seg_len * sizeof(float);
+      void *vec2_y = ((char *)vec2_x) + 4 * seg_len * sizeof(float);
+      void *temp5_ram = ((char *)temp_buffer) + 4 * seg_len * sizeof(float);
+      void *temp6_ram = ((char *)temp_buffer) + 5 * seg_len * sizeof(float);
+      void *temp7_ram = ((char *)temp_buffer) + 6 * seg_len * sizeof(float);
+      void *temp8_ram = ((char *)temp_buffer) + 7 * seg_len * sizeof(float);
+      void *temp9_ram = ((char *)temp_buffer) + 8 * seg_len * sizeof(float);
+      void *temp10_ram = ((char *)temp_buffer) + 9 * seg_len * sizeof(float);
+
+      // Get all intersection points
+      getIntersectPts(
+          (float *)rotated_pts1_x, (float *)rotated_pts1_y,
+          (float *)rotated_pts2_x, (float *)rotated_pts2_y, (float *)vec1_x,
+          (float *)vec1_y, (float *)vec2_x, (float *)vec2_y,
+          (float *)intersect_pts_x, (float *)intersect_pts_y,
+          (float *)valid_pts, (float *)nums_in_ram, (float *)temp1_ram,
+          (float *)temp2_ram, (float *)temp3_ram, (float *)temp4_ram,
+          (float *)temp5_ram, (float *)temp6_ram, (float *)temp7_ram,
+          (float *)temp8_ram, (float *)temp9_ram, (float *)temp10_ram, seg_len);
+
+      // Where nums_in <= 2, set valid_box to false
+      __bang_write_value((float *)temp9_ram, COMPUTE_COUNT_ALIGN, (float)2);
+      __bang_cycle_gt((float *)temp1_ram, (float *)nums_in_ram,
+                      (float *)temp9_ram, seg_len, COMPUTE_COUNT_ALIGN);
+      __bang_and((float *)valid_box, (float *)valid_box, (float *)temp1_ram,
+                 seg_len);
+      __bang_cycle_and((float *)valid_pts, (float *)valid_pts,
+                       (float *)valid_box, 24 * seg_len, seg_len);
+
+      // Convex-hull-graham to order the intersection points in clockwise order
+      // and find the contour area
+
+      convexHullGraham(
+          (float *)intersect_pts_x, (float *)intersect_pts_y,
+          (float *)ordered_pts_x, (float *)ordered_pts_y, (float *)dist_ram,
+          (float *)valid_box, (float *)valid_pts, (float *)nums_in_ram,
+          (float *)temp7_ram, (float *)temp8_ram, (float *)temp9_ram,
+          (float *)temp_long_1, (float *)temp_long_2, (float *)temp_long_3,
+          seg_len, seg_len);
+      // Calculate polygon area
+      // set temp1 = intersection part area
+      polygonArea((float *)ordered_pts_x, (float *)ordered_pts_y,
+                  (float *)valid_box, (float *)valid_pts, (float *)nums_in_ram,
+                  (float *)temp1_ram, (float *)temp2_ram, (float *)temp3_ram,
+                  (float *)temp4_ram, (float *)temp5_ram, (float *)temp6_ram,
+                  (float *)temp7_ram, (float *)temp8_ram, (float *)temp9_ram,
+                  seg_len);
+      // area
+      __bang_mul((float *)temp2_ram, (float *)box2 + seg_len * 2,
+                 (float *)box2 + seg_len * 3, seg_len);
+      // get the area_U: area + max_area - area_I
+      __bang_add_scalar((float *)temp2_ram, (float *)temp2_ram, float(max_area),
+                        seg_len);
+      __bang_sub((float *)temp2_ram, (float *)temp2_ram, (float *)temp1_ram,
+                 seg_len);  // area_U
+      if (iou_threshold > 0.0) {
+        __bang_mul_scalar((float *)temp1_ram, (float *)temp1_ram,
+                          div_thresh_iou, seg_len);
+      } else {
+        __bang_mul_scalar((float *)temp2_ram, (float *)temp2_ram, iou_threshold,
+                          seg_len);
+      }
+      __bang_ge((float *)temp1_ram, (float *)temp2_ram, (float *)temp1_ram,
+                seg_len);
+      __bang_mul((float *)score, (float *)score, (float *)temp1_ram, seg_len);
+
+      pvLock();
+      __memcpy(input_score_ptr + input_offset + i * max_seg_pad, score,
+               cpy_len * sizeof(float), scores_store_dir,
+               cpy_len * sizeof(float), cpy_len * sizeof(float), 0);
+      pvUnlock();
+    }
+  }
+  if (clusterId == 0 && coreId == 0 && nram_save_count) {
+    pvLock();
+    __memcpy(output_data, nram_save, nram_save_count * sizeof(int32_t),
+             NRAM2GDRAM);
+    pvUnlock();
+  }
+}
+__mlu_global__ void MLUBlockorUnionIKernelOU3D(
+    const void *input_boxes, const int input_box_num, const float iou_threshold,
+    const cnrtDataType_t data_type_input, void *workspace, void *result_num,
+    void *output) {
+  int input_dwidth = (data_type_input == CNRT_FLOAT32) ? 4 : 2;
+  mluMemcpyDirection_t scores_load_dir = GDRAM2NRAM;
+  mluMemcpyDirection_t scores_store_dir = NRAM2GDRAM;
+  mluMemcpyDirection_t boxes_load_dir = GDRAM2NRAM;
+  float *scores_data = (float *)workspace;
+  float *boxes_data = (float *)input_boxes;
+  const int cluster_score_size = input_box_num * sizeof(float);
+  const int cluster_boxes_size = input_box_num * 7 * input_dwidth;
+  char *sram_score = (char *)sram_buffer;
+  char *sram_boxes = (char *)sram_buffer + cluster_score_size;
+  if (clusterDim == 1 && SIZE_SRAM_BUF > cluster_score_size) {
+    scores_data = (float *)sram_score;
+    scores_load_dir = SRAM2NRAM;
+    scores_store_dir = NRAM2SRAM;
+    if (coreId == 0x80) {
+      __sramset((void *)sram_buffer, input_box_num, 1.0f);
+    }
+  } else {
+    if (coreId == 0) {
+      __gdramset(scores_data, input_box_num, 1.0f);
+    }
+  }
+  if (clusterDim == 1 &&
+      SIZE_SRAM_BUF - cluster_score_size >= cluster_boxes_size) {
+    boxes_load_dir = SRAM2NRAM;
+    boxes_data = (float *)sram_boxes;
+    if (coreId == 0x80) {
+      __memcpy((char *)boxes_data, (char *)input_boxes, cluster_boxes_size,
+               GDRAM2SRAM);
+    }
+  }
+  __sync_cluster();
+
+  int32_t result_box_num = 0;
+  int32_t *out_data = (int32_t *)output;
+
+  switch (data_type_input) {
+    default: { return; }
+    case CNRT_FLOAT16: {
+      iou3D_detection(result_box_num, out_data, (half *)boxes_data, scores_data,
+                      taskDim, input_box_num, iou_threshold, scores_load_dir,
+                      scores_store_dir, boxes_load_dir);
+    }; break;
+    case CNRT_FLOAT32: {
+      iou3D_detection(result_box_num, out_data, boxes_data, scores_data,
+                      taskDim, input_box_num, iou_threshold, scores_load_dir,
+                      scores_store_dir, boxes_load_dir);
+    }; break;
+  }
+  ((int32_t *)result_num)[0] = result_box_num;
+}
+
+void KernelIou3d(cnrtDim3_t k_dim, cnrtFunctionType_t k_type, cnrtQueue_t queue,
+                 const cnrtDataType_t data_type_input, const void *boxes_dram,
+                 const int input_box_num, const float iou_threshold,
+                 void *workspace, void *output_size, void *output) {
+  switch (k_type) {
+    default: { return; }
+    case CNRT_FUNC_TYPE_BLOCK:
+    case CNRT_FUNC_TYPE_UNION1:
+    case CNRT_FUNC_TYPE_UNION2:
+    case CNRT_FUNC_TYPE_UNION4:
+    case CNRT_FUNC_TYPE_UNION8:
+    case CNRT_FUNC_TYPE_UNION16: {
+      MLUBlockorUnionIKernelOU3D<<<k_dim, k_type, queue>>>(
+          (void *)boxes_dram, input_box_num, iou_threshold, data_type_input,
+          workspace, output_size, output);
+    }; break;
+  }
+}

mmcv/ops/csrc/common/mlu/iou3d_utils.hpp

+/*************************************************************************
+ * 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_

mmcv/ops/csrc/pytorch/mlu/iou3d_mlu.cpp

+/*************************************************************************
+ * 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.
+ *************************************************************************/
+
+#include "pytorch_device_registry.hpp"
+#include "pytorch_mlu_helper.hpp"
+
+void KernelIou3d(cnrtDim3_t k_dim, cnrtFunctionType_t k_type, cnrtQueue_t queue,
+                 const cnrtDataType_t data_type_input, const void *boxes_dram,
+                 const int input_box_num, const float iou_threshold,
+                 void *workspace, void *output_size, void *output);
+
+int selectType(uint32_t use_job, int box_num_per_core) {
+  // the box_num_per_core should be at least 256, otherwise the real IO
+  // bandwidth would be very low
+  while (box_num_per_core < 256 && use_job >= 4) {
+    box_num_per_core *= 2;
+    use_job /= 2;
+  }
+  return use_job;
+}
+static cnnlStatus_t policyFunc(cnrtDim3_t *k_dim, cnrtFunctionType_t *k_type,
+                               int &core_num_per_class,
+                               const int input_box_num) {
+  uint32_t core_dim = torch_mlu::getDeviceAttr(cnrtAttrMcorePerCluster);
+  uint32_t job_limit = getJobLimitCapability();
+  uint32_t core_number = job_limit;
+
+  int box_num_per_core = (input_box_num + core_number - 1) / core_number;
+  int use_job = selectType(job_limit, box_num_per_core);
+  // initiate k_type as Union1
+  k_dim->x = core_dim;
+  k_dim->y = 1;
+  k_dim->z = 1;
+  *k_type = CNRT_FUNC_TYPE_UNION1;
+  switch (job_limit) {
+    case CN_KERNEL_CLASS_BLOCK:
+    case CN_KERNEL_CLASS_UNION:
+    case CN_KERNEL_CLASS_UNION2:
+    case CN_KERNEL_CLASS_UNION4:
+    case CN_KERNEL_CLASS_UNION8:
+    case CN_KERNEL_CLASS_UNION16: {
+      if (use_job < 4) {
+        k_dim->x = 1;
+        *k_type = CNRT_FUNC_TYPE_BLOCK;
+      } else if (use_job == 4) {
+        k_dim->x = core_dim;
+        *k_type = CNRT_FUNC_TYPE_UNION1;
+      } else {
+        k_dim->x = use_job;
+        *k_type = (cnrtFunctionType_t)use_job;
+      }
+    }; break;
+    default:
+      LOG(WARNING) << "[cnnlNms_v2]: got unsupported job limit number."
+                   << " Use default CN_KERNEL_CLASS_UNION1 with UNION1 task.";
+  }
+  return CNNL_STATUS_SUCCESS;
+}
+
+void IoU3DNMS3DMLUKernelLauncher(Tensor boxes, Tensor &keep, Tensor &keep_num,
+                                 float iou_threshold) {
+  // dimension parameters check
+  TORCH_CHECK(boxes.dim() == 2, "boxes should be a 2d tensor, got ",
+              boxes.dim(), "D");
+  TORCH_CHECK(boxes.size(1) == 7,
+              "boxes should have 7 elements in dimension 1, got ",
+              boxes.size(1));
+
+  // data type check
+  TORCH_CHECK(
+      boxes.scalar_type() == at::kFloat || boxes.scalar_type() == at::kHalf,
+      "data type of boxes should be Float or Half, got ", boxes.scalar_type());
+
+  if (boxes.numel() == 0) {
+    return;
+  }
+  const size_t max_input_num = 2147483648;  // 2^31, 2G num
+  TORCH_CHECK(boxes.numel() < max_input_num,
+              "boxes.numel() should be less than 2147483648, got ",
+              boxes.numel());
+  int input_box_num = boxes.size(0);
+
+  cnrtDataType_t data_type_input = torch_mlu::toCnrtDtype(boxes.dtype());
+  cnrtDim3_t k_dim;
+  cnrtJobType_t k_type;
+
+  int core_num_per_class;
+  policyFunc(&k_dim, &k_type, core_num_per_class, input_box_num);
+
+  // transpose boxes (n, 7) to (7, n) for better performance
+  auto boxes_t = boxes.transpose(0, 1);
+  auto boxes_ = torch_mlu::cnnl::ops::cnnl_contiguous(boxes_t);
+
+  auto output = at::empty({input_box_num}, boxes.options().dtype(at::kLong));
+  auto output_size = at::empty({1}, boxes.options().dtype(at::kInt));
+
+  // workspace
+  const int info_num = 7;  // x, y,z, dx, dy, dz,angle
+  size_t space_size = 0;
+  if (boxes.scalar_type() == at::kHalf) {
+    space_size = input_box_num * sizeof(int16_t) * info_num +
+                 input_box_num * sizeof(float) + sizeof(float);
+  } else {
+    space_size = input_box_num * sizeof(float) * (info_num + 1) + sizeof(float);
+  }
+
+  auto workspace = at::empty(space_size, boxes.options().dtype(at::kByte));
+
+  // get compute queue
+  auto queue = torch_mlu::getCurQueue();
+
+  auto boxes_impl = torch_mlu::getMluTensorImpl(boxes_);
+  auto boxes_ptr = boxes_impl->cnnlMalloc();
+  auto workspace_impl = torch_mlu::getMluTensorImpl(workspace);
+  auto workspace_ptr = workspace_impl->cnnlMalloc();
+  auto output_impl = torch_mlu::getMluTensorImpl(keep);
+  auto output_ptr = output_impl->cnnlMalloc();
+  auto output_size_impl = torch_mlu::getMluTensorImpl(keep_num);
+  auto output_size_ptr = output_size_impl->cnnlMalloc();
+
+  uint32_t core_dim = torch_mlu::getDeviceAttr(cnrtAttrMcorePerCluster);
+  CNLOG(INFO) << "Launch Kernel KernelIou3d<<<Union" << k_type / core_dim
+              << ", " << k_dim.x << ", " << k_dim.y << ", " << k_dim.z << ">>>";
+  KernelIou3d(k_dim, k_type, queue, data_type_input, boxes_ptr, input_box_num,
+              iou_threshold, workspace_ptr, output_size_ptr, output_ptr);
+}
+
+void iou3d_nms3d_forward_mlu(const Tensor boxes, Tensor &keep, Tensor &keep_num,
+                             float nms_overlap_thresh) {
+  IoU3DNMS3DMLUKernelLauncher(boxes, keep, keep_num, nms_overlap_thresh);
+}
+
+void iou3d_nms3d_forward_impl(const Tensor boxes, Tensor &keep,
+                              Tensor &keep_num, float nms_overlap_thresh);
+REGISTER_DEVICE_IMPL(iou3d_nms3d_forward_impl, MLU, iou3d_nms3d_forward_mlu);

tests/test_ops/test_iou3d.py

@@ -4,7 +4,7 @@ import pytest
 import torch
 
 from mmcv.ops import boxes_iou3d, boxes_overlap_bev, nms3d, nms3d_normal
-from mmcv.utils import IS_CUDA_AVAILABLE
+from mmcv.utils import IS_CUDA_AVAILABLE, IS_MLU_AVAILABLE
 
 
 @pytest.mark.parametrize('device', [
@@ -73,7 +73,11 @@ def test_boxes_iou3d(device):
     pytest.param(
         'cuda',
         marks=pytest.mark.skipif(
-            not IS_CUDA_AVAILABLE, reason='requires CUDA support'))
+            not IS_CUDA_AVAILABLE, reason='requires CUDA support')),
+    pytest.param(
+        'mlu',
+        marks=pytest.mark.skipif(
+            not IS_MLU_AVAILABLE, reason='requires MLU support'))
 ])
 def test_nms3d(device):
     # test for 5 boxes
@@ -92,6 +96,12 @@ def test_nms3d(device):
     assert np.allclose(inds.cpu().numpy(), np_inds)
 
     # test for many boxes
+    # In the float data type calculation process, float will be converted to
+    # double in CUDA kernel (https://github.com/open-mmlab/mmcv/blob
+    # /master/mmcv/ops/csrc/common/box_iou_rotated_utils.hpp#L61),
+    # always use float in MLU kernel. The difference between the mentioned
+    # above leads to different results.
+    if device != 'mlu':
         np.random.seed(42)
         np_boxes = np.random.rand(555, 7).astype(np.float32)
         np_scores = np.random.rand(555).astype(np.float32)