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Unverified Commit 87339473 authored by Wenwei Zhang's avatar Wenwei Zhang Committed by GitHub
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Support pypi (#19) 

* add publish workflow

* Add manifest

* Clean files and bump to 0.5.0

* Fix MANIFEST
parent f0c16479
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.github/workflows/publish-to-pypi.yml 0 → 100644
View file @ 87339473
name: deploy
on: push
jobs:
build-n-publish:
runs-on: ubuntu-latest
if: startsWith(github.event.ref, 'refs/tags')
steps:
- uses: actions/checkout@v2
- name: Set up Python 3.7
uses: actions/setup-python@v1
with:
python-version: 3.7
- name: Build MMDet3D
run: python setup.py sdist
- name: Publish distribution to PyPI
run: |
pip install twine
twine upload dist/* -u __token__ -p ${{ secrets.pypi_password }}
MANIFEST.in 0 → 100644
View file @ 87339473
include requirements/*.txt
include mmdet3d/ops/**/*.cpp mmdet3d/ops/**/*.cu
include mmdet3d/ops/**/*.h mmdet3d/ops/**/*.cc
include mmdet3d/VERSION
mmdet3d/ops/iou3d/src/iou3d.cpp
View file @ 87339473
// Modified from
// https://github.com/open-mmlab/OpenPCDet/blob/master/pcdet/ops/iou3d_nms/src/iou3d_nms.cpp
/*
3D IoU Calculation and Rotated NMS(modified from 2D NMS written by others)
Written by Shaoshuai Shi
All Rights Reserved 2019-2020.
*/
#include <cuda.h> #include <cuda.h>
#include <cuda_runtime_api.h> #include <cuda_runtime_api.h>
#include <torch/extension.h> #include <torch/extension.h>
......
mmdet3d/ops/iou3d/src/iou3d_kernel.cu
View file @ 87339473
// Modified from
// https://github.com/open-mmlab/OpenPCDet/blob/master/pcdet/ops/iou3d_nms/src/iou3d_nms_kernel.cu
/*
3D IoU Calculation and Rotated NMS(modified from 2D NMS written by others)
Written by Shaoshuai Shi
All Rights Reserved 2019-2020.
*/
#include <stdio.h> #include <stdio.h>
#define THREADS_PER_BLOCK 16 #define THREADS_PER_BLOCK 16
#define DIVUP(m, n) ((m) / (n) + ((m) % (n) > 0)) #define DIVUP(m, n) ((m) / (n) + ((m) % (n) > 0))
......
mmdet3d/ops/spconv/include/spconv/box_iou.h deleted 100644 → 0
View file @ f0c16479
// Copyright 2019 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef BOX_IOU_H
#define BOX_IOU_H
#include <pybind11/pybind11.h>
// must include pybind11/eigen.h if using eigen matrix as arguments.
#include <pybind11/numpy.h>
#include <algorithm>
#include <boost/geometry.hpp>
namespace spconv {
// #include "voxelnet/core/cc/pybind11_helper.h"
namespace py = pybind11;
using namespace pybind11::literals;
template <typename DType, typename ShapeContainer>
inline py::array_t<DType> constant(ShapeContainer shape, DType value) {
// create ROWMAJOR array.
py::array_t<DType> array(shape);
std::fill(array.mutable_data(), array.mutable_data() + array.size(), value);
return array;
}
template <typename DType>
inline py::array_t<DType> zeros(std::vector<long int> shape) {
return constant<DType, std::vector<long int>>(shape, 0);
}
template <typename DType>
py::array_t<DType> rbbox_iou(py::array_t<DType> box_corners,
py::array_t<DType> qbox_corners,
py::array_t<DType> standup_iou,
DType standup_thresh) {
namespace bg = boost::geometry;
typedef bg::model::point<DType, 2, bg::cs::cartesian> point_t;
typedef bg::model::polygon<point_t> polygon_t;
polygon_t poly, qpoly;
std::vector<polygon_t> poly_inter, poly_union;
DType inter_area, union_area;
auto box_corners_r = box_corners.template unchecked<3>();
auto qbox_corners_r = qbox_corners.template unchecked<3>();
auto standup_iou_r = standup_iou.template unchecked<2>();
auto N = box_corners_r.shape(0);
auto K = qbox_corners_r.shape(0);
py::array_t<DType> overlaps = zeros<DType>({int(N), int(K)});
auto overlaps_rw = overlaps.template mutable_unchecked<2>();
if (N == 0 || K == 0) {
return overlaps;
}
for (int k = 0; k < K; ++k) {
for (int n = 0; n < N; ++n) {
if (standup_iou_r(n, k) <= standup_thresh) continue;
bg::append(poly, point_t(box_corners_r(n, 0, 0), box_corners_r(n, 0, 1)));
bg::append(poly, point_t(box_corners_r(n, 1, 0), box_corners_r(n, 1, 1)));
bg::append(poly, point_t(box_corners_r(n, 2, 0), box_corners_r(n, 2, 1)));
bg::append(poly, point_t(box_corners_r(n, 3, 0), box_corners_r(n, 3, 1)));
bg::append(poly, point_t(box_corners_r(n, 0, 0), box_corners_r(n, 0, 1)));
bg::append(qpoly,
point_t(qbox_corners_r(k, 0, 0), qbox_corners_r(k, 0, 1)));
bg::append(qpoly,
point_t(qbox_corners_r(k, 1, 0), qbox_corners_r(k, 1, 1)));
bg::append(qpoly,
point_t(qbox_corners_r(k, 2, 0), qbox_corners_r(k, 2, 1)));
bg::append(qpoly,
point_t(qbox_corners_r(k, 3, 0), qbox_corners_r(k, 3, 1)));
bg::append(qpoly,
point_t(qbox_corners_r(k, 0, 0), qbox_corners_r(k, 0, 1)));
bg::intersection(poly, qpoly, poly_inter);
if (!poly_inter.empty()) {
inter_area = bg::area(poly_inter.front());
bg::union_(poly, qpoly, poly_union);
if (!poly_union.empty()) {
union_area = bg::area(poly_union.front());
overlaps_rw(n, k) = inter_area / union_area;
}
poly_union.clear();
}
poly.clear();
qpoly.clear();
poly_inter.clear();
}
}
return overlaps;
}
template <typename DType>
py::array_t<DType> rbbox_intersection(py::array_t<DType> box_corners,
py::array_t<DType> qbox_corners,
py::array_t<DType> standup_iou,
DType standup_thresh) {
namespace bg = boost::geometry;
typedef bg::model::point<DType, 2, bg::cs::cartesian> point_t;
typedef bg::model::polygon<point_t> polygon_t;
polygon_t poly, qpoly;
std::vector<polygon_t> poly_inter, poly_union;
DType inter_area, union_area;
auto box_corners_r = box_corners.template unchecked<3>();
auto qbox_corners_r = qbox_corners.template unchecked<3>();
auto standup_iou_r = standup_iou.template unchecked<2>();
auto N = box_corners_r.shape(0);
auto K = qbox_corners_r.shape(0);
py::array_t<DType> overlaps = zeros<DType>({int(N), int(K)});
auto overlaps_rw = overlaps.template mutable_unchecked<2>();
if (N == 0 || K == 0) {
return overlaps;
}
for (int k = 0; k < K; ++k) {
for (int n = 0; n < N; ++n) {
if (standup_iou_r(n, k) <= standup_thresh) continue;
bg::append(poly, point_t(box_corners_r(n, 0, 0), box_corners_r(n, 0, 1)));
bg::append(poly, point_t(box_corners_r(n, 1, 0), box_corners_r(n, 1, 1)));
bg::append(poly, point_t(box_corners_r(n, 2, 0), box_corners_r(n, 2, 1)));
bg::append(poly, point_t(box_corners_r(n, 3, 0), box_corners_r(n, 3, 1)));
bg::append(poly, point_t(box_corners_r(n, 0, 0), box_corners_r(n, 0, 1)));
bg::append(qpoly,
point_t(qbox_corners_r(k, 0, 0), qbox_corners_r(k, 0, 1)));
bg::append(qpoly,
point_t(qbox_corners_r(k, 1, 0), qbox_corners_r(k, 1, 1)));
bg::append(qpoly,
point_t(qbox_corners_r(k, 2, 0), qbox_corners_r(k, 2, 1)));
bg::append(qpoly,
point_t(qbox_corners_r(k, 3, 0), qbox_corners_r(k, 3, 1)));
bg::append(qpoly,
point_t(qbox_corners_r(k, 0, 0), qbox_corners_r(k, 0, 1)));
bg::intersection(poly, qpoly, poly_inter);
if (!poly_inter.empty()) {
inter_area = bg::area(poly_inter.front());
overlaps_rw(n, k) = inter_area;
}
poly.clear();
qpoly.clear();
poly_inter.clear();
}
}
return overlaps;
}
} // namespace spconv
#endif
mmdet3d/ops/spconv/include/spconv/nms.h deleted 100644 → 0
View file @ f0c16479
// Copyright 2019 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef NMS_CPU_H
#define NMS_CPU_H
#include <pybind11/pybind11.h>
// must include pybind11/stl.h if using containers in STL in arguments.
#include <pybind11/numpy.h>
#include <pybind11/stl.h>
#include <algorithm>
#include <boost/geometry.hpp>
#include <vector>
#include "box_iou.h"
#include "nms_gpu.h"
namespace spconv {
namespace py = pybind11;
using namespace pybind11::literals;
template <typename DType>
std::vector<int> non_max_suppression_cpu(py::array_t<DType> boxes,
py::array_t<int> order, DType thresh,
DType eps = 0) {
auto ndets = boxes.shape(0);
auto boxes_r = boxes.template unchecked<2>();
auto order_r = order.template unchecked<1>();
auto suppressed = zeros<int>({int(ndets)});
auto suppressed_rw = suppressed.template mutable_unchecked<1>();
auto area = zeros<DType>({int(ndets)});
auto area_rw = area.template mutable_unchecked<1>();
// get areas
for (int i = 0; i < ndets; ++i) {
area_rw(i) = (boxes_r(i, 2) - boxes_r(i, 0) + eps) *
(boxes_r(i, 3) - boxes_r(i, 1) + eps);
}
std::vector<int> keep;
int i, j;
DType xx1, xx2, w, h, inter, ovr;
for (int _i = 0; _i < ndets; ++_i) {
i = order_r(_i);
if (suppressed_rw(i) == 1) continue;
keep.push_back(i);
for (int _j = _i + 1; _j < ndets; ++_j) {
j = order_r(_j);
if (suppressed_rw(j) == 1) continue;
xx2 = std::min(boxes_r(i, 2), boxes_r(j, 2));
xx1 = std::max(boxes_r(i, 0), boxes_r(j, 0));
w = xx2 - xx1 + eps;
if (w > 0) {
xx2 = std::min(boxes_r(i, 3), boxes_r(j, 3));
xx1 = std::max(boxes_r(i, 1), boxes_r(j, 1));
h = xx2 - xx1 + eps;
if (h > 0) {
inter = w * h;
ovr = inter / (area_rw(i) + area_rw(j) - inter);
if (ovr >= thresh) suppressed_rw(j) = 1;
}
}
}
}
return keep;
}
template <typename DType>
std::vector<int> rotate_non_max_suppression_cpu(py::array_t<DType> box_corners,
py::array_t<int> order,
py::array_t<DType> standup_iou,
DType thresh) {
auto ndets = box_corners.shape(0);
auto box_corners_r = box_corners.template unchecked<3>();
auto order_r = order.template unchecked<1>();
auto suppressed = zeros<int>({int(ndets)});
auto suppressed_rw = suppressed.template mutable_unchecked<1>();
auto standup_iou_r = standup_iou.template unchecked<2>();
std::vector<int> keep;
int i, j;
namespace bg = boost::geometry;
typedef bg::model::point<DType, 2, bg::cs::cartesian> point_t;
typedef bg::model::polygon<point_t> polygon_t;
polygon_t poly, qpoly;
std::vector<polygon_t> poly_inter, poly_union;
DType inter_area, union_area, overlap;
for (int _i = 0; _i < ndets; ++_i) {
i = order_r(_i);
if (suppressed_rw(i) == 1) continue;
keep.push_back(i);
for (int _j = _i + 1; _j < ndets; ++_j) {
j = order_r(_j);
if (suppressed_rw(j) == 1) continue;
if (standup_iou_r(i, j) <= 0.0) continue;
// std::cout << "pre_poly" << std::endl;
try {
bg::append(poly,
point_t(box_corners_r(i, 0, 0), box_corners_r(i, 0, 1)));
bg::append(poly,
point_t(box_corners_r(i, 1, 0), box_corners_r(i, 1, 1)));
bg::append(poly,
point_t(box_corners_r(i, 2, 0), box_corners_r(i, 2, 1)));
bg::append(poly,
point_t(box_corners_r(i, 3, 0), box_corners_r(i, 3, 1)));
bg::append(poly,
point_t(box_corners_r(i, 0, 0), box_corners_r(i, 0, 1)));
bg::append(qpoly,
point_t(box_corners_r(j, 0, 0), box_corners_r(j, 0, 1)));
bg::append(qpoly,
point_t(box_corners_r(j, 1, 0), box_corners_r(j, 1, 1)));
bg::append(qpoly,
point_t(box_corners_r(j, 2, 0), box_corners_r(j, 2, 1)));
bg::append(qpoly,
point_t(box_corners_r(j, 3, 0), box_corners_r(j, 3, 1)));
bg::append(qpoly,
point_t(box_corners_r(j, 0, 0), box_corners_r(j, 0, 1)));
bg::intersection(poly, qpoly, poly_inter);
} catch (const std::exception &e) {
std::cout << "box i corners:" << std::endl;
for (int k = 0; k < 4; ++k) {
std::cout << box_corners_r(i, k, 0) << " " << box_corners_r(i, k, 1)
<< std::endl;
}
std::cout << "box j corners:" << std::endl;
for (int k = 0; k < 4; ++k) {
std::cout << box_corners_r(j, k, 0) << " " << box_corners_r(j, k, 1)
<< std::endl;
}
// throw e;
continue;
}
// std::cout << "post_poly" << std::endl;
// std::cout << "post_intsec" << std::endl;
if (!poly_inter.empty()) {
inter_area = bg::area(poly_inter.front());
// std::cout << "pre_union" << " " << inter_area << std::endl;
bg::union_(poly, qpoly, poly_union);
/*
if (poly_union.empty()){
std::cout << "intsec area:" << " " << inter_area << std::endl;
std::cout << "box i corners:" << std::endl;
for(int k = 0; k < 4; ++k){
std::cout << box_corners_r(i, k, 0) << " " << box_corners_r(i,
k, 1) << std::endl;
}
std::cout << "box j corners:" << std::endl;
for(int k = 0; k < 4; ++k){
std::cout << box_corners_r(j, k, 0) << " " << box_corners_r(j,
k, 1) << std::endl;
}
}*/
// std::cout << "post_union" << poly_union.empty() << std::endl;
if (!poly_union.empty()) { // ignore invalid box
union_area = bg::area(poly_union.front());
// std::cout << "post union area" << std::endl;
// std::cout << union_area << "debug" << std::endl;
overlap = inter_area / union_area;
if (overlap >= thresh) suppressed_rw(j) = 1;
poly_union.clear();
}
}
poly.clear();
qpoly.clear();
poly_inter.clear();
}
}
return keep;
}
constexpr int const threadsPerBlock = sizeof(unsigned long long) * 8;
template <typename DType>
int non_max_suppression(py::array_t<DType> boxes, py::array_t<int> keep_out,
DType nms_overlap_thresh, int device_id) {
py::buffer_info info = boxes.request();
auto boxes_ptr = static_cast<DType *>(info.ptr);
py::buffer_info info_k = keep_out.request();
auto keep_out_ptr = static_cast<int *>(info_k.ptr);
return _nms_gpu<DType, threadsPerBlock>(keep_out_ptr, boxes_ptr,
boxes.shape(0), boxes.shape(1),
nms_overlap_thresh, device_id);
}
} // namespace spconv
#endif
mmdet3d/ops/spconv/include/spconv/nms_functor.h deleted 100644 → 0
View file @ f0c16479
// Copyright 2019 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef NMS_FUNCTOR_H_
#define NMS_FUNCTOR_H_
#include <tensorview/tensorview.h>
namespace spconv {
namespace functor {
template <typename Device, typename T, typename Index>
struct NonMaxSupressionFunctor {
Index operator()(const Device& d, tv::TensorView<Index> keep,
tv::TensorView<const T> boxes, T threshold, T eps);
};
template <typename Device, typename T, typename Index>
struct rotateNonMaxSupressionFunctor {
Index operator()(const Device& d, tv::TensorView<Index> keep,
tv::TensorView<const T> boxCorners,
tv::TensorView<const T> standupIoU, T threshold);
};
} // namespace functor
} // namespace spconv
#endif
mmdet3d/ops/spconv/include/spconv/nms_gpu.h deleted 100644 → 0
View file @ f0c16479
// Copyright 2019 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#pragma once
template <typename DType, int BLOCK_THREADS>
int _nms_gpu(int *keep_out, const DType *boxes_host, int boxes_num,
int boxes_dim, DType nms_overlap_thresh, int device_id);
mmdet3d/ops/spconv/include/spconv/nms_ops.h deleted 100644 → 0
View file @ f0c16479
// Copyright 2019 Yan Yan
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef NMS_TORCH_OP_H_
#define NMS_TORCH_OP_H_
#include <cuda_runtime_api.h>
#include <spconv/indice.h>
#include <spconv/reordering.h>
#include <torch/script.h>
#include <torch_utils.h>
#include <utility/timer.h>
#include <spconv/nms_functor.h>
namespace spconv {
// torch.jit's doc says only support int64, so we need to convert to int32.
template <typename T>
torch::Tensor
nonMaxSuppression(torch::Tensor boxes, torch::Tensor scores, int64_t preMaxSize,
int64_t postMaxSize, double thresh, double eps) {
// auto timer = spconv::CudaContextTimer<>();
tv::check_torch_dtype<T>(boxes);
auto resOptions =
torch::TensorOptions().dtype(torch::kInt64).device(boxes.device());
if (boxes.size(0) == 0){
return torch::zeros({0}, resOptions);
}
torch::Tensor indices;
if (preMaxSize > 0){
auto numKeepedScores = scores.size(0);
preMaxSize = std::min(numKeepedScores, preMaxSize);
auto res = torch::topk(scores, preMaxSize);
indices = std::get<1>(res);
boxes = torch::index_select(boxes, 0, indices);
}else{
indices = std::get<1>(torch::sort(scores));
boxes = torch::index_select(boxes, 0, indices);
}
if (boxes.size(0) == 0)
return torch::zeros({0}, resOptions);
auto keep = torch::zeros({boxes.size(0)}, resOptions);
int64_t keepNum = 0;
if (boxes.device().type() == torch::kCPU) {
auto nmsFunctor = functor::NonMaxSupressionFunctor<tv::CPU, T, int64_t>();
keepNum = nmsFunctor(tv::CPU(), tv::torch2tv<int64_t>(keep),
tv::torch2tv<const T>(boxes), T(thresh), T(eps));
}else{
TV_ASSERT_RT_ERR(false, "not implemented");
}
if (postMaxSize <= 0){
postMaxSize = keepNum;
}
// std::cout << keep << std::endl;
keep = keep.slice(0, 0, std::min(keepNum, postMaxSize));
if (preMaxSize > 0){
return torch::index_select(indices, 0, keep);
}
return keep;
}
} // namespace spconv
#endif
setup.py
View file @ 87339473
...@@ -14,15 +14,6 @@ def readme(): ...@@ -14,15 +14,6 @@ def readme():
return content return content
MAJOR = 0
MINOR = 0
PATCH = 0
SUFFIX = 'rc0'
if PATCH != '':
SHORT_VERSION = '{}.{}.{}{}'.format(MAJOR, MINOR, PATCH, SUFFIX)
else:
SHORT_VERSION = '{}.{}{}'.format(MAJOR, MINOR, SUFFIX)
version_file = 'mmdet3d/version.py' version_file = 'mmdet3d/version.py'
...@@ -72,12 +63,19 @@ def write_version_py(): ...@@ -72,12 +63,19 @@ def write_version_py():
# TIME: {} # TIME: {}
__version__ = '{}' __version__ = '{}'
short_version = '{}' short_version = '{}'
version_info = ({})
""" """
sha = get_hash() sha = get_hash()
with open('mmdet3d/VERSION', 'r') as f:
SHORT_VERSION = f.read().strip()
VERSION_INFO = ', '.join(
[x if x.isdigit() else f'"{x}"' for x in SHORT_VERSION.split('.')])
VERSION = SHORT_VERSION + '+' + sha VERSION = SHORT_VERSION + '+' + sha
version_file_str = content.format(time.asctime(), VERSION, SHORT_VERSION,
VERSION_INFO)
with open(version_file, 'w') as f: with open(version_file, 'w') as f:
f.write(content.format(time.asctime(), VERSION, SHORT_VERSION)) f.write(version_file_str)
def get_version(): def get_version():
......
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