[Fix] Fix iou3d in parrots (#2054)

mmcv/ops/csrc/parrots/cudabind.cpp

@@ -564,11 +564,11 @@ REGISTER_DEVICE_IMPL(group_points_forward_impl, CUDA,
 REGISTER_DEVICE_IMPL(group_points_backward_impl, CUDA,
                      group_points_backward_cuda);
 
-void IoU3DBoxesIoU3DForwardCUDAKernelLauncher(const int num_a,
+void IoU3DBoxesOverlapBevForwardCUDAKernelLauncher(const int num_a,
                                                    const Tensor boxes_a,
                                                    const int num_b,
                                                    const Tensor boxes_b,
-                                              Tensor ans_iou);
+                                                   Tensor ans_overlap);
 
 void IoU3DNMS3DForwardCUDAKernelLauncher(const Tensor boxes,
                                          unsigned long long* mask,
@@ -580,11 +580,11 @@ void IoU3DNMS3DNormalForwardCUDAKernelLauncher(const Tensor boxes,
                                                int boxes_num,
                                                float nms_overlap_thresh);
 
-void iou3d_boxes_iou3d_forward_cuda(const int num_a, const Tensor boxes_a,
+void iou3d_boxes_overlap_bev_forward_cuda(const int num_a, const Tensor boxes_a,
                                           const int num_b, const Tensor boxes_b,
-                                    Tensor ans_iou) {
-  IoU3DBoxesIoU3DForwardCUDAKernelLauncher(num_a, boxes_a, num_b, boxes_b,
-                                           ans_iou);
+                                          Tensor ans_overlap) {
+  IoU3DBoxesOverlapBevForwardCUDAKernelLauncher(num_a, boxes_a, num_b, boxes_b,
+                                                ans_overlap);
 };
 
 void iou3d_nms3d_forward_cuda(const Tensor boxes, unsigned long long* mask,
@@ -600,9 +600,9 @@ void iou3d_nms3d_normal_forward_cuda(const Tensor boxes,
                                             nms_overlap_thresh);
 };
 
-void iou3d_boxes_iou3d_forward_impl(const int num_a, const Tensor boxes_a,
+void iou3d_boxes_overlap_bev_forward_impl(const int num_a, const Tensor boxes_a,
                                           const int num_b, const Tensor boxes_b,
-                                    Tensor ans_iou);
+                                          Tensor ans_overlap);
 
 void iou3d_nms3d_forward_impl(const Tensor boxes, unsigned long long* mask,
                               int boxes_num, float nms_overlap_thresh);
@@ -611,8 +611,8 @@ void iou3d_nms3d_normal_forward_impl(const Tensor boxes,
                                      unsigned long long* mask, int boxes_num,
                                      float nms_overlap_thresh);
 
-REGISTER_DEVICE_IMPL(iou3d_boxes_iou3d_forward_impl, CUDA,
-                     iou3d_boxes_iou3d_forward_cuda);
+REGISTER_DEVICE_IMPL(iou3d_boxes_overlap_bev_forward_impl, CUDA,
+                     iou3d_boxes_overlap_bev_forward_cuda);
 REGISTER_DEVICE_IMPL(iou3d_nms3d_forward_impl, CUDA, iou3d_nms3d_forward_cuda);
 REGISTER_DEVICE_IMPL(iou3d_nms3d_normal_forward_impl, CUDA,
                      iou3d_nms3d_normal_forward_cuda);

mmcv/ops/csrc/parrots/iou3d.cpp

@@ -12,11 +12,11 @@ All Rights Reserved 2019-2020.
 
 const int THREADS_PER_BLOCK_NMS = sizeof(unsigned long long) * 8;
 
-void iou3d_boxes_iou3d_forward_impl(const int num_a, const Tensor boxes_a,
+void iou3d_boxes_overlap_bev_forward_impl(const int num_a, const Tensor boxes_a,
                                           const int num_b, const Tensor boxes_b,
-                                    Tensor ans_iou) {
-  DISPATCH_DEVICE_IMPL(iou3d_boxes_iou3d_forward_impl, num_a, boxes_a, num_b,
-                       boxes_b, ans_iou);
+                                          Tensor ans_overlap) {
+  DISPATCH_DEVICE_IMPL(iou3d_boxes_overlap_bev_forward_impl, num_a, boxes_a,
+                       num_b, boxes_b, ans_overlap);
 }
 
 void iou3d_nms3d_forward_impl(const Tensor boxes, unsigned long long *mask,
@@ -32,14 +32,16 @@ void iou3d_nms3d_normal_forward_impl(const Tensor boxes,
                        nms_overlap_thresh);
 }
 
-void iou3d_boxes_iou3d_forward(Tensor boxes_a, Tensor boxes_b, Tensor ans_iou) {
+void iou3d_boxes_overlap_bev_forward(Tensor boxes_a, Tensor boxes_b,
+                                     Tensor ans_overlap) {
   // params boxes: (N, 7) [x, y, z, dx, dy, dz, heading]
   // params boxes_b: (M, 5)
   // params ans_overlap: (N, M)
   int num_a = boxes_a.size(0);
   int num_b = boxes_b.size(0);
 
-  iou3d_boxes_iou3d_forward_impl(num_a, boxes_a, num_b, boxes_b, ans_iou);
+  iou3d_boxes_overlap_bev_forward_impl(num_a, boxes_a, num_b, boxes_b,
+                                       ans_overlap);
 }
 
 void iou3d_nms3d_forward(Tensor boxes, Tensor keep, Tensor keep_num,

mmcv/ops/csrc/parrots/iou3d_parrots.cpp

@@ -8,16 +8,15 @@
 using namespace parrots;
 
 #ifdef MMCV_WITH_CUDA
-void iou3d_boxes_iou3d_forward_cuda_parrots(CudaContext& ctx,
-                                            const SSElement& attr,
-                                            const OperatorBase::in_list_t& ins,
+void iou3d_boxes_overlap_bev_forward_cuda_parrots(
+    CudaContext& ctx, const SSElement& attr, const OperatorBase::in_list_t& ins,
     OperatorBase::out_list_t& outs) {
   auto boxes_a = buildATensor(ctx, ins[0]);
   auto boxes_b = buildATensor(ctx, ins[1]);
 
   auto ans_iou = buildATensor(ctx, outs[0]);
 
-  iou3d_boxes_iou3d_forward(boxes_a, boxes_b, ans_iou);
+  iou3d_boxes_overlap_bev_forward(boxes_a, boxes_b, ans_iou);
 }
 
 void iou3d_nms3d_forward_cuda_parrots(CudaContext& ctx, const SSElement& attr,
@@ -49,10 +48,10 @@ void iou3d_nms3d_normal_forward_cuda_parrots(CudaContext& ctx,
   iou3d_nms3d_normal_forward(boxes, keep, keep_num, nms_overlap_thresh);
 }
 
-PARROTS_EXTENSION_REGISTER(iou3d_boxes_iou3d_forward)
+PARROTS_EXTENSION_REGISTER(iou3d_boxes_overlap_bev_forward)
     .input(2)
     .output(1)
-    .apply(iou3d_boxes_iou3d_forward_cuda_parrots)
+    .apply(iou3d_boxes_overlap_bev_forward_cuda_parrots)
     .done();
 
 PARROTS_EXTENSION_REGISTER(iou3d_nms3d_forward)

mmcv/ops/csrc/parrots/iou3d_pytorch.h

@@ -4,7 +4,8 @@
 #include <torch/extension.h>
 using namespace at;
 
-void iou3d_boxes_iou3d_forward(Tensor boxes_a, Tensor boxes_b, Tensor ans_iou);
+void iou3d_boxes_overlap_bev_forward(Tensor boxes_a, Tensor boxes_b,
+                                     Tensor ans_overlap);
 
 void iou3d_nms3d_forward(Tensor boxes, Tensor keep, Tensor keep_num,
                          float nms_overlap_thresh);