data generation

data_generation/grit/third_party/CenterNet2/detectron2/layers/csrc/cocoeval/cocoeval.cpp

+// Copyright (c) Facebook, Inc. and its affiliates.
+#include "cocoeval.h"
+#include <time.h>
+#include <algorithm>
+#include <cstdint>
+#include <numeric>
+
+using namespace pybind11::literals;
+
+namespace detectron2 {
+
+namespace COCOeval {
+
+// Sort detections from highest score to lowest, such that
+// detection_instances[detection_sorted_indices[t]] >=
+// detection_instances[detection_sorted_indices[t+1]].  Use stable_sort to match
+// original COCO API
+void SortInstancesByDetectionScore(
+    const std::vector<InstanceAnnotation>& detection_instances,
+    std::vector<uint64_t>* detection_sorted_indices) {
+  detection_sorted_indices->resize(detection_instances.size());
+  std::iota(
+      detection_sorted_indices->begin(), detection_sorted_indices->end(), 0);
+  std::stable_sort(
+      detection_sorted_indices->begin(),
+      detection_sorted_indices->end(),
+      [&detection_instances](size_t j1, size_t j2) {
+        return detection_instances[j1].score > detection_instances[j2].score;
+      });
+}
+
+// Partition the ground truth objects based on whether or not to ignore them
+// based on area
+void SortInstancesByIgnore(
+    const std::array<double, 2>& area_range,
+    const std::vector<InstanceAnnotation>& ground_truth_instances,
+    std::vector<uint64_t>* ground_truth_sorted_indices,
+    std::vector<bool>* ignores) {
+  ignores->clear();
+  ignores->reserve(ground_truth_instances.size());
+  for (auto o : ground_truth_instances) {
+    ignores->push_back(
+        o.ignore || o.area < area_range[0] || o.area > area_range[1]);
+  }
+
+  ground_truth_sorted_indices->resize(ground_truth_instances.size());
+  std::iota(
+      ground_truth_sorted_indices->begin(),
+      ground_truth_sorted_indices->end(),
+      0);
+  std::stable_sort(
+      ground_truth_sorted_indices->begin(),
+      ground_truth_sorted_indices->end(),
+      [&ignores](size_t j1, size_t j2) {
+        return (int)(*ignores)[j1] < (int)(*ignores)[j2];
+      });
+}
+
+// For each IOU threshold, greedily match each detected instance to a ground
+// truth instance (if possible) and store the results
+void MatchDetectionsToGroundTruth(
+    const std::vector<InstanceAnnotation>& detection_instances,
+    const std::vector<uint64_t>& detection_sorted_indices,
+    const std::vector<InstanceAnnotation>& ground_truth_instances,
+    const std::vector<uint64_t>& ground_truth_sorted_indices,
+    const std::vector<bool>& ignores,
+    const std::vector<std::vector<double>>& ious,
+    const std::vector<double>& iou_thresholds,
+    const std::array<double, 2>& area_range,
+    ImageEvaluation* results) {
+  // Initialize memory to store return data matches and ignore
+  const int num_iou_thresholds = iou_thresholds.size();
+  const int num_ground_truth = ground_truth_sorted_indices.size();
+  const int num_detections = detection_sorted_indices.size();
+  std::vector<uint64_t> ground_truth_matches(
+      num_iou_thresholds * num_ground_truth, 0);
+  std::vector<uint64_t>& detection_matches = results->detection_matches;
+  std::vector<bool>& detection_ignores = results->detection_ignores;
+  std::vector<bool>& ground_truth_ignores = results->ground_truth_ignores;
+  detection_matches.resize(num_iou_thresholds * num_detections, 0);
+  detection_ignores.resize(num_iou_thresholds * num_detections, false);
+  ground_truth_ignores.resize(num_ground_truth);
+  for (auto g = 0; g < num_ground_truth; ++g) {
+    ground_truth_ignores[g] = ignores[ground_truth_sorted_indices[g]];
+  }
+
+  for (auto t = 0; t < num_iou_thresholds; ++t) {
+    for (auto d = 0; d < num_detections; ++d) {
+      // information about best match so far (match=-1 -> unmatched)
+      double best_iou = std::min(iou_thresholds[t], 1 - 1e-10);
+      int match = -1;
+      for (auto g = 0; g < num_ground_truth; ++g) {
+        // if this ground truth instance is already matched and not a
+        // crowd, it cannot be matched to another detection
+        if (ground_truth_matches[t * num_ground_truth + g] > 0 &&
+            !ground_truth_instances[ground_truth_sorted_indices[g]].is_crowd) {
+          continue;
+        }
+
+        // if detected instance matched to a regular ground truth
+        // instance, we can break on the first ground truth instance
+        // tagged as ignore (because they are sorted by the ignore tag)
+        if (match >= 0 && !ground_truth_ignores[match] &&
+            ground_truth_ignores[g]) {
+          break;
+        }
+
+        // if IOU overlap is the best so far, store the match appropriately
+        if (ious[d][ground_truth_sorted_indices[g]] >= best_iou) {
+          best_iou = ious[d][ground_truth_sorted_indices[g]];
+          match = g;
+        }
+      }
+      // if match was made, store id of match for both detection and
+      // ground truth
+      if (match >= 0) {
+        detection_ignores[t * num_detections + d] = ground_truth_ignores[match];
+        detection_matches[t * num_detections + d] =
+            ground_truth_instances[ground_truth_sorted_indices[match]].id;
+        ground_truth_matches[t * num_ground_truth + match] =
+            detection_instances[detection_sorted_indices[d]].id;
+      }
+
+      // set unmatched detections outside of area range to ignore
+      const InstanceAnnotation& detection =
+          detection_instances[detection_sorted_indices[d]];
+      detection_ignores[t * num_detections + d] =
+          detection_ignores[t * num_detections + d] ||
+          (detection_matches[t * num_detections + d] == 0 &&
+           (detection.area < area_range[0] || detection.area > area_range[1]));
+    }
+  }
+
+  // store detection score results
+  results->detection_scores.resize(detection_sorted_indices.size());
+  for (size_t d = 0; d < detection_sorted_indices.size(); ++d) {
+    results->detection_scores[d] =
+        detection_instances[detection_sorted_indices[d]].score;
+  }
+}
+
+std::vector<ImageEvaluation> EvaluateImages(
+    const std::vector<std::array<double, 2>>& area_ranges,
+    int max_detections,
+    const std::vector<double>& iou_thresholds,
+    const ImageCategoryInstances<std::vector<double>>& image_category_ious,
+    const ImageCategoryInstances<InstanceAnnotation>&
+        image_category_ground_truth_instances,
+    const ImageCategoryInstances<InstanceAnnotation>&
+        image_category_detection_instances) {
+  const int num_area_ranges = area_ranges.size();
+  const int num_images = image_category_ground_truth_instances.size();
+  const int num_categories =
+      image_category_ious.size() > 0 ? image_category_ious[0].size() : 0;
+  std::vector<uint64_t> detection_sorted_indices;
+  std::vector<uint64_t> ground_truth_sorted_indices;
+  std::vector<bool> ignores;
+  std::vector<ImageEvaluation> results_all(
+      num_images * num_area_ranges * num_categories);
+
+  // Store results for each image, category, and area range combination. Results
+  // for each IOU threshold are packed into the same ImageEvaluation object
+  for (auto i = 0; i < num_images; ++i) {
+    for (auto c = 0; c < num_categories; ++c) {
+      const std::vector<InstanceAnnotation>& ground_truth_instances =
+          image_category_ground_truth_instances[i][c];
+      const std::vector<InstanceAnnotation>& detection_instances =
+          image_category_detection_instances[i][c];
+
+      SortInstancesByDetectionScore(
+          detection_instances, &detection_sorted_indices);
+      if ((int)detection_sorted_indices.size() > max_detections) {
+        detection_sorted_indices.resize(max_detections);
+      }
+
+      for (size_t a = 0; a < area_ranges.size(); ++a) {
+        SortInstancesByIgnore(
+            area_ranges[a],
+            ground_truth_instances,
+            &ground_truth_sorted_indices,
+            &ignores);
+
+        MatchDetectionsToGroundTruth(
+            detection_instances,
+            detection_sorted_indices,
+            ground_truth_instances,
+            ground_truth_sorted_indices,
+            ignores,
+            image_category_ious[i][c],
+            iou_thresholds,
+            area_ranges[a],
+            &results_all
+                [c * num_area_ranges * num_images + a * num_images + i]);
+      }
+    }
+  }
+
+  return results_all;
+}
+
+// Convert a python list to a vector
+template <typename T>
+std::vector<T> list_to_vec(const py::list& l) {
+  std::vector<T> v(py::len(l));
+  for (int i = 0; i < (int)py::len(l); ++i) {
+    v[i] = l[i].cast<T>();
+  }
+  return v;
+}
+
+// Helper function to Accumulate()
+// Considers the evaluation results applicable to a particular category, area
+// range, and max_detections parameter setting, which begin at
+// evaluations[evaluation_index].  Extracts a sorted list of length n of all
+// applicable detection instances concatenated across all images in the dataset,
+// which are represented by the outputs evaluation_indices, detection_scores,
+// image_detection_indices, and detection_sorted_indices--all of which are
+// length n. evaluation_indices[i] stores the applicable index into
+// evaluations[] for instance i, which has detection score detection_score[i],
+// and is the image_detection_indices[i]'th of the list of detections
+// for the image containing i.  detection_sorted_indices[] defines a sorted
+// permutation of the 3 other outputs
+int BuildSortedDetectionList(
+    const std::vector<ImageEvaluation>& evaluations,
+    const int64_t evaluation_index,
+    const int64_t num_images,
+    const int max_detections,
+    std::vector<uint64_t>* evaluation_indices,
+    std::vector<double>* detection_scores,
+    std::vector<uint64_t>* detection_sorted_indices,
+    std::vector<uint64_t>* image_detection_indices) {
+  assert(evaluations.size() >= evaluation_index + num_images);
+
+  // Extract a list of object instances of the applicable category, area
+  // range, and max detections requirements such that they can be sorted
+  image_detection_indices->clear();
+  evaluation_indices->clear();
+  detection_scores->clear();
+  image_detection_indices->reserve(num_images * max_detections);
+  evaluation_indices->reserve(num_images * max_detections);
+  detection_scores->reserve(num_images * max_detections);
+  int num_valid_ground_truth = 0;
+  for (auto i = 0; i < num_images; ++i) {
+    const ImageEvaluation& evaluation = evaluations[evaluation_index + i];
+
+    for (int d = 0;
+         d < (int)evaluation.detection_scores.size() && d < max_detections;
+         ++d) { // detected instances
+      evaluation_indices->push_back(evaluation_index + i);
+      image_detection_indices->push_back(d);
+      detection_scores->push_back(evaluation.detection_scores[d]);
+    }
+    for (auto ground_truth_ignore : evaluation.ground_truth_ignores) {
+      if (!ground_truth_ignore) {
+        ++num_valid_ground_truth;
+      }
+    }
+  }
+
+  // Sort detections by decreasing score, using stable sort to match
+  // python implementation
+  detection_sorted_indices->resize(detection_scores->size());
+  std::iota(
+      detection_sorted_indices->begin(), detection_sorted_indices->end(), 0);
+  std::stable_sort(
+      detection_sorted_indices->begin(),
+      detection_sorted_indices->end(),
+      [&detection_scores](size_t j1, size_t j2) {
+        return (*detection_scores)[j1] > (*detection_scores)[j2];
+      });
+
+  return num_valid_ground_truth;
+}
+
+// Helper function to Accumulate()
+// Compute a precision recall curve given a sorted list of detected instances
+// encoded in evaluations, evaluation_indices, detection_scores,
+// detection_sorted_indices, image_detection_indices (see
+// BuildSortedDetectionList()). Using vectors precisions and recalls
+// and temporary storage, output the results into precisions_out, recalls_out,
+// and scores_out, which are large buffers containing many precion/recall curves
+// for all possible parameter settings, with precisions_out_index and
+// recalls_out_index defining the applicable indices to store results.
+void ComputePrecisionRecallCurve(
+    const int64_t precisions_out_index,
+    const int64_t precisions_out_stride,
+    const int64_t recalls_out_index,
+    const std::vector<double>& recall_thresholds,
+    const int iou_threshold_index,
+    const int num_iou_thresholds,
+    const int num_valid_ground_truth,
+    const std::vector<ImageEvaluation>& evaluations,
+    const std::vector<uint64_t>& evaluation_indices,
+    const std::vector<double>& detection_scores,
+    const std::vector<uint64_t>& detection_sorted_indices,
+    const std::vector<uint64_t>& image_detection_indices,
+    std::vector<double>* precisions,
+    std::vector<double>* recalls,
+    std::vector<double>* precisions_out,
+    std::vector<double>* scores_out,
+    std::vector<double>* recalls_out) {
+  assert(recalls_out->size() > recalls_out_index);
+
+  // Compute precision/recall for each instance in the sorted list of detections
+  int64_t true_positives_sum = 0, false_positives_sum = 0;
+  precisions->clear();
+  recalls->clear();
+  precisions->reserve(detection_sorted_indices.size());
+  recalls->reserve(detection_sorted_indices.size());
+  assert(!evaluations.empty() || detection_sorted_indices.empty());
+  for (auto detection_sorted_index : detection_sorted_indices) {
+    const ImageEvaluation& evaluation =
+        evaluations[evaluation_indices[detection_sorted_index]];
+    const auto num_detections =
+        evaluation.detection_matches.size() / num_iou_thresholds;
+    const auto detection_index = iou_threshold_index * num_detections +
+        image_detection_indices[detection_sorted_index];
+    assert(evaluation.detection_matches.size() > detection_index);
+    assert(evaluation.detection_ignores.size() > detection_index);
+    const int64_t detection_match =
+        evaluation.detection_matches[detection_index];
+    const bool detection_ignores =
+        evaluation.detection_ignores[detection_index];
+    const auto true_positive = detection_match > 0 && !detection_ignores;
+    const auto false_positive = detection_match == 0 && !detection_ignores;
+    if (true_positive) {
+      ++true_positives_sum;
+    }
+    if (false_positive) {
+      ++false_positives_sum;
+    }
+
+    const double recall =
+        static_cast<double>(true_positives_sum) / num_valid_ground_truth;
+    recalls->push_back(recall);
+    const int64_t num_valid_detections =
+        true_positives_sum + false_positives_sum;
+    const double precision = num_valid_detections > 0
+        ? static_cast<double>(true_positives_sum) / num_valid_detections
+        : 0.0;
+    precisions->push_back(precision);
+  }
+
+  (*recalls_out)[recalls_out_index] = !recalls->empty() ? recalls->back() : 0;
+
+  for (int64_t i = static_cast<int64_t>(precisions->size()) - 1; i > 0; --i) {
+    if ((*precisions)[i] > (*precisions)[i - 1]) {
+      (*precisions)[i - 1] = (*precisions)[i];
+    }
+  }
+
+  // Sample the per instance precision/recall list at each recall threshold
+  for (size_t r = 0; r < recall_thresholds.size(); ++r) {
+    // first index in recalls >= recall_thresholds[r]
+    std::vector<double>::iterator low = std::lower_bound(
+        recalls->begin(), recalls->end(), recall_thresholds[r]);
+    size_t precisions_index = low - recalls->begin();
+
+    const auto results_ind = precisions_out_index + r * precisions_out_stride;
+    assert(results_ind < precisions_out->size());
+    assert(results_ind < scores_out->size());
+    if (precisions_index < precisions->size()) {
+      (*precisions_out)[results_ind] = (*precisions)[precisions_index];
+      (*scores_out)[results_ind] =
+          detection_scores[detection_sorted_indices[precisions_index]];
+    } else {
+      (*precisions_out)[results_ind] = 0;
+      (*scores_out)[results_ind] = 0;
+    }
+  }
+}
+py::dict Accumulate(
+    const py::object& params,
+    const std::vector<ImageEvaluation>& evaluations) {
+  const std::vector<double> recall_thresholds =
+      list_to_vec<double>(params.attr("recThrs"));
+  const std::vector<int> max_detections =
+      list_to_vec<int>(params.attr("maxDets"));
+  const int num_iou_thresholds = py::len(params.attr("iouThrs"));
+  const int num_recall_thresholds = py::len(params.attr("recThrs"));
+  const int num_categories = params.attr("useCats").cast<int>() == 1
+      ? py::len(params.attr("catIds"))
+      : 1;
+  const int num_area_ranges = py::len(params.attr("areaRng"));
+  const int num_max_detections = py::len(params.attr("maxDets"));
+  const int num_images = py::len(params.attr("imgIds"));
+
+  std::vector<double> precisions_out(
+      num_iou_thresholds * num_recall_thresholds * num_categories *
+          num_area_ranges * num_max_detections,
+      -1);
+  std::vector<double> recalls_out(
+      num_iou_thresholds * num_categories * num_area_ranges *
+          num_max_detections,
+      -1);
+  std::vector<double> scores_out(
+      num_iou_thresholds * num_recall_thresholds * num_categories *
+          num_area_ranges * num_max_detections,
+      -1);
+
+  // Consider the list of all detected instances in the entire dataset in one
+  // large list.  evaluation_indices, detection_scores,
+  // image_detection_indices, and detection_sorted_indices all have the same
+  // length as this list, such that each entry corresponds to one detected
+  // instance
+  std::vector<uint64_t> evaluation_indices; // indices into evaluations[]
+  std::vector<double> detection_scores; // detection scores of each instance
+  std::vector<uint64_t> detection_sorted_indices; // sorted indices of all
+                                                  // instances in the dataset
+  std::vector<uint64_t>
+      image_detection_indices; // indices into the list of detected instances in
+                               // the same image as each instance
+  std::vector<double> precisions, recalls;
+
+  for (auto c = 0; c < num_categories; ++c) {
+    for (auto a = 0; a < num_area_ranges; ++a) {
+      for (auto m = 0; m < num_max_detections; ++m) {
+        // The COCO PythonAPI assumes evaluations[] (the return value of
+        // COCOeval::EvaluateImages() is one long list storing results for each
+        // combination of category, area range, and image id, with categories in
+        // the outermost loop and images in the innermost loop.
+        const int64_t evaluations_index =
+            c * num_area_ranges * num_images + a * num_images;
+        int num_valid_ground_truth = BuildSortedDetectionList(
+            evaluations,
+            evaluations_index,
+            num_images,
+            max_detections[m],
+            &evaluation_indices,
+            &detection_scores,
+            &detection_sorted_indices,
+            &image_detection_indices);
+
+        if (num_valid_ground_truth == 0) {
+          continue;
+        }
+
+        for (auto t = 0; t < num_iou_thresholds; ++t) {
+          // recalls_out is a flattened vectors representing a
+          // num_iou_thresholds X num_categories X num_area_ranges X
+          // num_max_detections matrix
+          const int64_t recalls_out_index =
+              t * num_categories * num_area_ranges * num_max_detections +
+              c * num_area_ranges * num_max_detections +
+              a * num_max_detections + m;
+
+          // precisions_out and scores_out are flattened vectors
+          // representing a num_iou_thresholds X num_recall_thresholds X
+          // num_categories X num_area_ranges X num_max_detections matrix
+          const int64_t precisions_out_stride =
+              num_categories * num_area_ranges * num_max_detections;
+          const int64_t precisions_out_index = t * num_recall_thresholds *
+                  num_categories * num_area_ranges * num_max_detections +
+              c * num_area_ranges * num_max_detections +
+              a * num_max_detections + m;
+
+          ComputePrecisionRecallCurve(
+              precisions_out_index,
+              precisions_out_stride,
+              recalls_out_index,
+              recall_thresholds,
+              t,
+              num_iou_thresholds,
+              num_valid_ground_truth,
+              evaluations,
+              evaluation_indices,
+              detection_scores,
+              detection_sorted_indices,
+              image_detection_indices,
+              &precisions,
+              &recalls,
+              &precisions_out,
+              &scores_out,
+              &recalls_out);
+        }
+      }
+    }
+  }
+
+  time_t rawtime;
+  struct tm local_time;
+  std::array<char, 200> buffer;
+  time(&rawtime);
+#ifdef _WIN32
+  localtime_s(&local_time, &rawtime);
+#else
+  localtime_r(&rawtime, &local_time);
+#endif
+  strftime(
+      buffer.data(), 200, "%Y-%m-%d %H:%num_max_detections:%S", &local_time);
+  return py::dict(
+      "params"_a = params,
+      "counts"_a = std::vector<int64_t>(
+          {num_iou_thresholds,
+           num_recall_thresholds,
+           num_categories,
+           num_area_ranges,
+           num_max_detections}),
+      "date"_a = buffer,
+      "precision"_a = precisions_out,
+      "recall"_a = recalls_out,
+      "scores"_a = scores_out);
+}
+
+} // namespace COCOeval
+
+} // namespace detectron2

data_generation/grit/third_party/CenterNet2/detectron2/layers/csrc/cocoeval/cocoeval.h

+// Copyright (c) Facebook, Inc. and its affiliates.
+#pragma once
+
+#include <pybind11/numpy.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+#include <pybind11/stl_bind.h>
+#include <vector>
+
+namespace py = pybind11;
+
+namespace detectron2 {
+
+namespace COCOeval {
+
+// Annotation data for a single object instance in an image
+struct InstanceAnnotation {
+  InstanceAnnotation(
+      uint64_t id,
+      double score,
+      double area,
+      bool is_crowd,
+      bool ignore)
+      : id{id}, score{score}, area{area}, is_crowd{is_crowd}, ignore{ignore} {}
+  uint64_t id;
+  double score = 0.;
+  double area = 0.;
+  bool is_crowd = false;
+  bool ignore = false;
+};
+
+// Stores intermediate results for evaluating detection results for a single
+// image that has D detected instances and G ground truth instances. This stores
+// matches between detected and ground truth instances
+struct ImageEvaluation {
+  // For each of the D detected instances, the id of the matched ground truth
+  // instance, or 0 if unmatched
+  std::vector<uint64_t> detection_matches;
+
+  // The detection score of each of the D detected instances
+  std::vector<double> detection_scores;
+
+  // Marks whether or not each of G instances was ignored from evaluation (e.g.,
+  // because it's outside area_range)
+  std::vector<bool> ground_truth_ignores;
+
+  // Marks whether or not each of D instances was ignored from evaluation (e.g.,
+  // because it's outside aRng)
+  std::vector<bool> detection_ignores;
+};
+
+template <class T>
+using ImageCategoryInstances = std::vector<std::vector<std::vector<T>>>;
+
+// C++ implementation of COCO API cocoeval.py::COCOeval.evaluateImg().  For each
+// combination of image, category, area range settings, and IOU thresholds to
+// evaluate, it matches detected instances to ground truth instances and stores
+// the results into a vector of ImageEvaluation results, which will be
+// interpreted by the COCOeval::Accumulate() function to produce precion-recall
+// curves.  The parameters of nested vectors have the following semantics:
+//   image_category_ious[i][c][d][g] is the intersection over union of the d'th
+//     detected instance and g'th ground truth instance of
+//     category category_ids[c] in image image_ids[i]
+//   image_category_ground_truth_instances[i][c] is a vector of ground truth
+//     instances in image image_ids[i] of category category_ids[c]
+//   image_category_detection_instances[i][c] is a vector of detected
+//     instances in image image_ids[i] of category category_ids[c]
+std::vector<ImageEvaluation> EvaluateImages(
+    const std::vector<std::array<double, 2>>& area_ranges, // vector of 2-tuples
+    int max_detections,
+    const std::vector<double>& iou_thresholds,
+    const ImageCategoryInstances<std::vector<double>>& image_category_ious,
+    const ImageCategoryInstances<InstanceAnnotation>&
+        image_category_ground_truth_instances,
+    const ImageCategoryInstances<InstanceAnnotation>&
+        image_category_detection_instances);
+
+// C++ implementation of COCOeval.accumulate(), which generates precision
+// recall curves for each set of category, IOU threshold, detection area range,
+// and max number of detections parameters.  It is assumed that the parameter
+// evaluations is the return value of the functon COCOeval::EvaluateImages(),
+// which was called with the same parameter settings params
+py::dict Accumulate(
+    const py::object& params,
+    const std::vector<ImageEvaluation>& evalutations);
+
+} // namespace COCOeval
+} // namespace detectron2

data_generation/grit/third_party/CenterNet2/detectron2/layers/csrc/cuda_version.cu

+// Copyright (c) Facebook, Inc. and its affiliates.
+
+#include <cuda_runtime_api.h>
+
+namespace detectron2 {
+int get_cudart_version() {
+// Not a ROCM platform: Either HIP is not used, or
+// it is used, but platform is not ROCM (i.e. it is CUDA)
+#if !defined(__HIP_PLATFORM_HCC__)
+  return CUDART_VERSION;
+#else
+  int version = 0;
+
+#if HIP_VERSION_MAJOR != 0
+  // Create a convention similar to that of CUDA, as assumed by other
+  // parts of the code.
+
+  version = HIP_VERSION_MINOR;
+  version += (HIP_VERSION_MAJOR * 100);
+#else
+  hipRuntimeGetVersion(&version);
+#endif
+  return version;
+#endif
+}
+} // namespace detectron2

data_generation/grit/third_party/CenterNet2/detectron2/layers/csrc/deformable/deform_conv.h

+// Copyright (c) Facebook, Inc. and its affiliates.
+#pragma once
+#include <torch/types.h>
+
+namespace detectron2 {
+
+#if defined(WITH_CUDA) || defined(WITH_HIP)
+int deform_conv_forward_cuda(
+    at::Tensor input,
+    at::Tensor weight,
+    at::Tensor offset,
+    at::Tensor output,
+    at::Tensor columns,
+    at::Tensor ones,
+    int kW,
+    int kH,
+    int dW,
+    int dH,
+    int padW,
+    int padH,
+    int dilationW,
+    int dilationH,
+    int group,
+    int deformable_group,
+    int im2col_step);
+
+int deform_conv_backward_input_cuda(
+    at::Tensor input,
+    at::Tensor offset,
+    at::Tensor gradOutput,
+    at::Tensor gradInput,
+    at::Tensor gradOffset,
+    at::Tensor weight,
+    at::Tensor columns,
+    int kW,
+    int kH,
+    int dW,
+    int dH,
+    int padW,
+    int padH,
+    int dilationW,
+    int dilationH,
+    int group,
+    int deformable_group,
+    int im2col_step);
+
+int deform_conv_backward_parameters_cuda(
+    at::Tensor input,
+    at::Tensor offset,
+    at::Tensor gradOutput,
+    at::Tensor gradWeight, // at::Tensor gradBias,
+    at::Tensor columns,
+    at::Tensor ones,
+    int kW,
+    int kH,
+    int dW,
+    int dH,
+    int padW,
+    int padH,
+    int dilationW,
+    int dilationH,
+    int group,
+    int deformable_group,
+    float scale,
+    int im2col_step);
+
+void modulated_deform_conv_cuda_forward(
+    at::Tensor input,
+    at::Tensor weight,
+    at::Tensor bias,
+    at::Tensor ones,
+    at::Tensor offset,
+    at::Tensor mask,
+    at::Tensor output,
+    at::Tensor columns,
+    int kernel_h,
+    int kernel_w,
+    const int stride_h,
+    const int stride_w,
+    const int pad_h,
+    const int pad_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int group,
+    const int deformable_group,
+    const bool with_bias);
+
+void modulated_deform_conv_cuda_backward(
+    at::Tensor input,
+    at::Tensor weight,
+    at::Tensor bias,
+    at::Tensor ones,
+    at::Tensor offset,
+    at::Tensor mask,
+    at::Tensor columns,
+    at::Tensor grad_input,
+    at::Tensor grad_weight,
+    at::Tensor grad_bias,
+    at::Tensor grad_offset,
+    at::Tensor grad_mask,
+    at::Tensor grad_output,
+    int kernel_h,
+    int kernel_w,
+    int stride_h,
+    int stride_w,
+    int pad_h,
+    int pad_w,
+    int dilation_h,
+    int dilation_w,
+    int group,
+    int deformable_group,
+    const bool with_bias);
+
+#endif
+
+inline int deform_conv_forward(
+    at::Tensor input,
+    at::Tensor weight,
+    at::Tensor offset,
+    at::Tensor output,
+    at::Tensor columns,
+    at::Tensor ones,
+    int kW,
+    int kH,
+    int dW,
+    int dH,
+    int padW,
+    int padH,
+    int dilationW,
+    int dilationH,
+    int group,
+    int deformable_group,
+    int im2col_step) {
+  if (input.is_cuda()) {
+#if defined(WITH_CUDA) || defined(WITH_HIP)
+    TORCH_CHECK(weight.is_cuda(), "weight tensor is not on GPU!");
+    TORCH_CHECK(offset.is_cuda(), "offset tensor is not on GPU!");
+    return deform_conv_forward_cuda(
+        input,
+        weight,
+        offset,
+        output,
+        columns,
+        ones,
+        kW,
+        kH,
+        dW,
+        dH,
+        padW,
+        padH,
+        dilationW,
+        dilationH,
+        group,
+        deformable_group,
+        im2col_step);
+#else
+    AT_ERROR("Detectron2 is not compiled with GPU support!");
+#endif
+  }
+  AT_ERROR("This operator is not implemented on CPU");
+}
+
+inline int deform_conv_backward_input(
+    at::Tensor input,
+    at::Tensor offset,
+    at::Tensor gradOutput,
+    at::Tensor gradInput,
+    at::Tensor gradOffset,
+    at::Tensor weight,
+    at::Tensor columns,
+    int kW,
+    int kH,
+    int dW,
+    int dH,
+    int padW,
+    int padH,
+    int dilationW,
+    int dilationH,
+    int group,
+    int deformable_group,
+    int im2col_step) {
+  if (gradOutput.is_cuda()) {
+#if defined(WITH_CUDA) || defined(WITH_HIP)
+    TORCH_CHECK(input.is_cuda(), "input tensor is not on GPU!");
+    TORCH_CHECK(weight.is_cuda(), "weight tensor is not on GPU!");
+    TORCH_CHECK(offset.is_cuda(), "offset tensor is not on GPU!");
+    return deform_conv_backward_input_cuda(
+        input,
+        offset,
+        gradOutput,
+        gradInput,
+        gradOffset,
+        weight,
+        columns,
+        kW,
+        kH,
+        dW,
+        dH,
+        padW,
+        padH,
+        dilationW,
+        dilationH,
+        group,
+        deformable_group,
+        im2col_step);
+#else
+    AT_ERROR("Detectron2 is not compiled with GPU support!");
+#endif
+  }
+  AT_ERROR("This operator is not implemented on CPU");
+}
+
+inline int deform_conv_backward_filter(
+    at::Tensor input,
+    at::Tensor offset,
+    at::Tensor gradOutput,
+    at::Tensor gradWeight, // at::Tensor gradBias,
+    at::Tensor columns,
+    at::Tensor ones,
+    int kW,
+    int kH,
+    int dW,
+    int dH,
+    int padW,
+    int padH,
+    int dilationW,
+    int dilationH,
+    int group,
+    int deformable_group,
+    float scale,
+    int im2col_step) {
+  if (gradOutput.is_cuda()) {
+#if defined(WITH_CUDA) || defined(WITH_HIP)
+    TORCH_CHECK(input.is_cuda(), "input tensor is not on GPU!");
+    TORCH_CHECK(offset.is_cuda(), "offset tensor is not on GPU!");
+    return deform_conv_backward_parameters_cuda(
+        input,
+        offset,
+        gradOutput,
+        gradWeight,
+        columns,
+        ones,
+        kW,
+        kH,
+        dW,
+        dH,
+        padW,
+        padH,
+        dilationW,
+        dilationH,
+        group,
+        deformable_group,
+        scale,
+        im2col_step);
+#else
+    AT_ERROR("Detectron2 is not compiled with GPU support!");
+#endif
+  }
+  AT_ERROR("This operator is not implemented on CPU");
+}
+
+inline void modulated_deform_conv_forward(
+    at::Tensor input,
+    at::Tensor weight,
+    at::Tensor bias,
+    at::Tensor ones,
+    at::Tensor offset,
+    at::Tensor mask,
+    at::Tensor output,
+    at::Tensor columns,
+    int kernel_h,
+    int kernel_w,
+    const int stride_h,
+    const int stride_w,
+    const int pad_h,
+    const int pad_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int group,
+    const int deformable_group,
+    const bool with_bias) {
+  if (input.is_cuda()) {
+#if defined(WITH_CUDA) || defined(WITH_HIP)
+    TORCH_CHECK(weight.is_cuda(), "weight tensor is not on GPU!");
+    TORCH_CHECK(bias.is_cuda(), "bias tensor is not on GPU!");
+    TORCH_CHECK(offset.is_cuda(), "offset tensor is not on GPU!");
+    return modulated_deform_conv_cuda_forward(
+        input,
+        weight,
+        bias,
+        ones,
+        offset,
+        mask,
+        output,
+        columns,
+        kernel_h,
+        kernel_w,
+        stride_h,
+        stride_w,
+        pad_h,
+        pad_w,
+        dilation_h,
+        dilation_w,
+        group,
+        deformable_group,
+        with_bias);
+#else
+    AT_ERROR("Detectron2 is not compiled with GPU support!");
+#endif
+  }
+  AT_ERROR("This operator is not implemented on CPU");
+}
+
+inline void modulated_deform_conv_backward(
+    at::Tensor input,
+    at::Tensor weight,
+    at::Tensor bias,
+    at::Tensor ones,
+    at::Tensor offset,
+    at::Tensor mask,
+    at::Tensor columns,
+    at::Tensor grad_input,
+    at::Tensor grad_weight,
+    at::Tensor grad_bias,
+    at::Tensor grad_offset,
+    at::Tensor grad_mask,
+    at::Tensor grad_output,
+    int kernel_h,
+    int kernel_w,
+    int stride_h,
+    int stride_w,
+    int pad_h,
+    int pad_w,
+    int dilation_h,
+    int dilation_w,
+    int group,
+    int deformable_group,
+    const bool with_bias) {
+  if (grad_output.is_cuda()) {
+#if defined(WITH_CUDA) || defined(WITH_HIP)
+    TORCH_CHECK(input.is_cuda(), "input tensor is not on GPU!");
+    TORCH_CHECK(weight.is_cuda(), "weight tensor is not on GPU!");
+    TORCH_CHECK(bias.is_cuda(), "bias tensor is not on GPU!");
+    TORCH_CHECK(offset.is_cuda(), "offset tensor is not on GPU!");
+    return modulated_deform_conv_cuda_backward(
+        input,
+        weight,
+        bias,
+        ones,
+        offset,
+        mask,
+        columns,
+        grad_input,
+        grad_weight,
+        grad_bias,
+        grad_offset,
+        grad_mask,
+        grad_output,
+        kernel_h,
+        kernel_w,
+        stride_h,
+        stride_w,
+        pad_h,
+        pad_w,
+        dilation_h,
+        dilation_w,
+        group,
+        deformable_group,
+        with_bias);
+#else
+    AT_ERROR("Detectron2 is not compiled with GPU support!");
+#endif
+  }
+  AT_ERROR("This operator is not implemented on CPU");
+}
+
+} // namespace detectron2

data_generation/grit/third_party/CenterNet2/detectron2/layers/csrc/deformable/deform_conv_cuda.cu

+// Copyright (c) Facebook, Inc. and its affiliates.
+
+// modified from
+// https://github.com/open-mmlab/mmdetection/blob/master/mmdet/ops/dcn/src/deform_conv_cuda.cpp
+// Original license: Apache 2.0
+
+// modify from
+// https://github.com/chengdazhi/Deformable-Convolution-V2-PyTorch/blob/mmdetection/mmdet/ops/dcn/src/deform_conv_cuda.c
+// Original license: Apache 2.0
+
+#include <torch/types.h>
+
+#include "deform_conv.h"
+
+#include <cmath>
+#include <vector>
+
+namespace detectron2 {
+
+void deformable_im2col(
+    const at::Tensor data_im,
+    const at::Tensor data_offset,
+    const int channels,
+    const int height,
+    const int width,
+    const int ksize_h,
+    const int ksize_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int parallel_imgs,
+    const int deformable_group,
+    at::Tensor data_col);
+
+void deformable_col2im(
+    const at::Tensor data_col,
+    const at::Tensor data_offset,
+    const int channels,
+    const int height,
+    const int width,
+    const int ksize_h,
+    const int ksize_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int parallel_imgs,
+    const int deformable_group,
+    at::Tensor grad_im);
+
+void deformable_col2im_coord(
+    const at::Tensor data_col,
+    const at::Tensor data_im,
+    const at::Tensor data_offset,
+    const int channels,
+    const int height,
+    const int width,
+    const int ksize_h,
+    const int ksize_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int parallel_imgs,
+    const int deformable_group,
+    at::Tensor grad_offset);
+
+void modulated_deformable_im2col_cuda(
+    const at::Tensor data_im,
+    const at::Tensor data_offset,
+    const at::Tensor data_mask,
+    const int batch_size,
+    const int channels,
+    const int height_im,
+    const int width_im,
+    const int height_col,
+    const int width_col,
+    const int kernel_h,
+    const int kenerl_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int deformable_group,
+    at::Tensor data_col);
+
+void modulated_deformable_col2im_cuda(
+    const at::Tensor data_col,
+    const at::Tensor data_offset,
+    const at::Tensor data_mask,
+    const int batch_size,
+    const int channels,
+    const int height_im,
+    const int width_im,
+    const int height_col,
+    const int width_col,
+    const int kernel_h,
+    const int kenerl_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int deformable_group,
+    at::Tensor grad_im);
+
+void modulated_deformable_col2im_coord_cuda(
+    const at::Tensor data_col,
+    const at::Tensor data_im,
+    const at::Tensor data_offset,
+    const at::Tensor data_mask,
+    const int batch_size,
+    const int channels,
+    const int height_im,
+    const int width_im,
+    const int height_col,
+    const int width_col,
+    const int kernel_h,
+    const int kenerl_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int deformable_group,
+    at::Tensor grad_offset,
+    at::Tensor grad_mask);
+
+void shape_check(
+    at::Tensor input,
+    at::Tensor offset,
+    at::Tensor* gradOutput,
+    at::Tensor weight,
+    int kH,
+    int kW,
+    int dH,
+    int dW,
+    int padH,
+    int padW,
+    int dilationH,
+    int dilationW,
+    int group,
+    int deformable_group) {
+  TORCH_CHECK(
+      weight.ndimension() == 4,
+      "4D weight tensor (nOutputPlane,nInputPlane,kH,kW) expected, "
+      "but got: %s",
+      weight.ndimension());
+
+  TORCH_CHECK(weight.is_contiguous(), "weight tensor has to be contiguous");
+
+  TORCH_CHECK(
+      kW > 0 && kH > 0,
+      "kernel size should be greater than zero, but got kH: %d kW: %d",
+      kH,
+      kW);
+
+  TORCH_CHECK(
+      (weight.size(2) == kH && weight.size(3) == kW),
+      "kernel size should be consistent with weight, ",
+      "but got kH: %d kW: %d weight.size(2): %d, weight.size(3): %d",
+      kH,
+      kW,
+      weight.size(2),
+      weight.size(3));
+
+  TORCH_CHECK(
+      dW > 0 && dH > 0,
+      "stride should be greater than zero, but got dH: %d dW: %d",
+      dH,
+      dW);
+
+  TORCH_CHECK(
+      dilationW > 0 && dilationH > 0,
+      "dilation should be greater than 0, but got dilationH: %d dilationW: %d",
+      dilationH,
+      dilationW);
+
+  int ndim = input.ndimension();
+  int dimf = 0;
+  int dimh = 1;
+  int dimw = 2;
+
+  if (ndim == 4) {
+    dimf++;
+    dimh++;
+    dimw++;
+  }
+
+  TORCH_CHECK(
+      ndim == 3 || ndim == 4,
+      "3D or 4D input tensor expected but got: %s",
+      ndim);
+
+  long nInputPlane = weight.size(1) * group;
+  long inputHeight = input.size(dimh);
+  long inputWidth = input.size(dimw);
+  long nOutputPlane = weight.size(0);
+  long outputHeight =
+      (inputHeight + 2 * padH - (dilationH * (kH - 1) + 1)) / dH + 1;
+  long outputWidth =
+      (inputWidth + 2 * padW - (dilationW * (kW - 1) + 1)) / dW + 1;
+
+  TORCH_CHECK(
+      nInputPlane % deformable_group == 0,
+      "input channels must divide deformable group size");
+
+  if (outputWidth < 1 || outputHeight < 1)
+    AT_ERROR(
+        "Given input size: (%ld x %ld x %ld). "
+        "Calculated output size: (%ld x %ld x %ld). Output size is too small",
+        nInputPlane,
+        inputHeight,
+        inputWidth,
+        nOutputPlane,
+        outputHeight,
+        outputWidth);
+
+  TORCH_CHECK(
+      input.size(1) == nInputPlane,
+      "invalid number of input planes, expected: %d, but got: %d",
+      nInputPlane,
+      input.size(1));
+
+  TORCH_CHECK(
+      (inputHeight + 2 * padH >= kH && inputWidth + 2 * padW >= kW),
+      "input image is smaller than kernel");
+
+  TORCH_CHECK(
+      (offset.size(2) == outputHeight && offset.size(3) == outputWidth),
+      "invalid spatial size of offset, expected height: %d width: %d, but "
+      "got height: %d width: %d",
+      outputHeight,
+      outputWidth,
+      offset.size(2),
+      offset.size(3));
+
+  TORCH_CHECK(
+      (offset.size(1) == deformable_group * 2 * kH * kW),
+      "invalid number of channels of offset");
+
+  if (gradOutput != NULL) {
+    TORCH_CHECK(
+        gradOutput->size(dimf) == nOutputPlane,
+        "invalid number of gradOutput planes, expected: %d, but got: %d",
+        nOutputPlane,
+        gradOutput->size(dimf));
+
+    TORCH_CHECK(
+        (gradOutput->size(dimh) == outputHeight &&
+         gradOutput->size(dimw) == outputWidth),
+        "invalid size of gradOutput, expected height: %d width: %d , but "
+        "got height: %d width: %d",
+        outputHeight,
+        outputWidth,
+        gradOutput->size(dimh),
+        gradOutput->size(dimw));
+  }
+}
+
+int deform_conv_forward_cuda(
+    at::Tensor input,
+    at::Tensor weight,
+    at::Tensor offset,
+    at::Tensor output,
+    at::Tensor columns,
+    at::Tensor ones,
+    int kW,
+    int kH,
+    int dW,
+    int dH,
+    int padW,
+    int padH,
+    int dilationW,
+    int dilationH,
+    int group,
+    int deformable_group,
+    int im2col_step) {
+  // todo: resize columns to include im2col: done
+  // todo: add im2col_step as input
+  // todo: add new output buffer and transpose it to output (or directly
+  // transpose output) todo: possibly change data indexing because of
+  // parallel_imgs
+
+  shape_check(
+      input,
+      offset,
+      NULL,
+      weight,
+      kH,
+      kW,
+      dH,
+      dW,
+      padH,
+      padW,
+      dilationH,
+      dilationW,
+      group,
+      deformable_group);
+
+  input = input.contiguous();
+  offset = offset.contiguous();
+  weight = weight.contiguous();
+
+  int batch = 1;
+  if (input.ndimension() == 3) {
+    // Force batch
+    batch = 0;
+    input.unsqueeze_(0);
+    offset.unsqueeze_(0);
+  }
+
+  // todo: assert batchsize dividable by im2col_step
+
+  long batchSize = input.size(0);
+  long nInputPlane = input.size(1);
+  long inputHeight = input.size(2);
+  long inputWidth = input.size(3);
+
+  long nOutputPlane = weight.size(0);
+
+  long outputWidth =
+      (inputWidth + 2 * padW - (dilationW * (kW - 1) + 1)) / dW + 1;
+  long outputHeight =
+      (inputHeight + 2 * padH - (dilationH * (kH - 1) + 1)) / dH + 1;
+
+  TORCH_CHECK((offset.size(0) == batchSize), "invalid batch size of offset");
+
+  output = output.view(
+      {batchSize / im2col_step,
+       im2col_step,
+       nOutputPlane,
+       outputHeight,
+       outputWidth});
+  columns = at::zeros(
+      {nInputPlane * kW * kH, im2col_step * outputHeight * outputWidth},
+      input.options());
+
+  if (ones.ndimension() != 2 ||
+      ones.size(0) * ones.size(1) < outputHeight * outputWidth) {
+    ones = at::ones({outputHeight, outputWidth}, input.options());
+  }
+
+  input = input.view(
+      {batchSize / im2col_step,
+       im2col_step,
+       nInputPlane,
+       inputHeight,
+       inputWidth});
+  offset = offset.view(
+      {batchSize / im2col_step,
+       im2col_step,
+       deformable_group * 2 * kH * kW,
+       outputHeight,
+       outputWidth});
+
+  at::Tensor output_buffer = at::zeros(
+      {batchSize / im2col_step,
+       nOutputPlane,
+       im2col_step * outputHeight,
+       outputWidth},
+      output.options());
+
+  output_buffer = output_buffer.view(
+      {output_buffer.size(0),
+       group,
+       output_buffer.size(1) / group,
+       output_buffer.size(2),
+       output_buffer.size(3)});
+
+  for (int elt = 0; elt < batchSize / im2col_step; elt++) {
+    deformable_im2col(
+        input[elt],
+        offset[elt],
+        nInputPlane,
+        inputHeight,
+        inputWidth,
+        kH,
+        kW,
+        padH,
+        padW,
+        dH,
+        dW,
+        dilationH,
+        dilationW,
+        im2col_step,
+        deformable_group,
+        columns);
+
+    columns = columns.view({group, columns.size(0) / group, columns.size(1)});
+    weight = weight.view(
+        {group,
+         weight.size(0) / group,
+         weight.size(1),
+         weight.size(2),
+         weight.size(3)});
+
+    for (int g = 0; g < group; g++) {
+      output_buffer[elt][g] = output_buffer[elt][g]
+                                  .flatten(1)
+                                  .addmm_(weight[g].flatten(1), columns[g])
+                                  .view_as(output_buffer[elt][g]);
+    }
+  }
+
+  output_buffer = output_buffer.view(
+      {output_buffer.size(0),
+       output_buffer.size(1) * output_buffer.size(2),
+       output_buffer.size(3),
+       output_buffer.size(4)});
+
+  output_buffer = output_buffer.view(
+      {batchSize / im2col_step,
+       nOutputPlane,
+       im2col_step,
+       outputHeight,
+       outputWidth});
+  output_buffer.transpose_(1, 2);
+  output.copy_(output_buffer);
+  output = output.view({batchSize, nOutputPlane, outputHeight, outputWidth});
+
+  input = input.view({batchSize, nInputPlane, inputHeight, inputWidth});
+  offset = offset.view(
+      {batchSize, deformable_group * 2 * kH * kW, outputHeight, outputWidth});
+
+  if (batch == 0) {
+    output = output.view({nOutputPlane, outputHeight, outputWidth});
+    input = input.view({nInputPlane, inputHeight, inputWidth});
+    offset = offset.view({offset.size(1), offset.size(2), offset.size(3)});
+  }
+
+  return 1;
+}
+
+int deform_conv_backward_input_cuda(
+    at::Tensor input,
+    at::Tensor offset,
+    at::Tensor gradOutput,
+    at::Tensor gradInput,
+    at::Tensor gradOffset,
+    at::Tensor weight,
+    at::Tensor columns,
+    int kW,
+    int kH,
+    int dW,
+    int dH,
+    int padW,
+    int padH,
+    int dilationW,
+    int dilationH,
+    int group,
+    int deformable_group,
+    int im2col_step) {
+  shape_check(
+      input,
+      offset,
+      &gradOutput,
+      weight,
+      kH,
+      kW,
+      dH,
+      dW,
+      padH,
+      padW,
+      dilationH,
+      dilationW,
+      group,
+      deformable_group);
+
+  input = input.contiguous();
+  offset = offset.contiguous();
+  gradOutput = gradOutput.contiguous();
+  weight = weight.contiguous();
+
+  int batch = 1;
+
+  if (input.ndimension() == 3) {
+    // Force batch
+    batch = 0;
+    input = input.view({1, input.size(0), input.size(1), input.size(2)});
+    offset = offset.view({1, offset.size(0), offset.size(1), offset.size(2)});
+    gradOutput = gradOutput.view(
+        {1, gradOutput.size(0), gradOutput.size(1), gradOutput.size(2)});
+  }
+
+  long batchSize = input.size(0);
+  long nInputPlane = input.size(1);
+  long inputHeight = input.size(2);
+  long inputWidth = input.size(3);
+
+  long nOutputPlane = weight.size(0);
+
+  long outputWidth =
+      (inputWidth + 2 * padW - (dilationW * (kW - 1) + 1)) / dW + 1;
+  long outputHeight =
+      (inputHeight + 2 * padH - (dilationH * (kH - 1) + 1)) / dH + 1;
+
+  TORCH_CHECK((offset.size(0) == batchSize), 3, "invalid batch size of offset");
+  gradInput = gradInput.view({batchSize, nInputPlane, inputHeight, inputWidth});
+  columns = at::zeros(
+      {nInputPlane * kW * kH, im2col_step * outputHeight * outputWidth},
+      input.options());
+
+  // change order of grad output
+  gradOutput = gradOutput.view(
+      {batchSize / im2col_step,
+       im2col_step,
+       nOutputPlane,
+       outputHeight,
+       outputWidth});
+  gradOutput.transpose_(1, 2);
+
+  gradInput = gradInput.view(
+      {batchSize / im2col_step,
+       im2col_step,
+       nInputPlane,
+       inputHeight,
+       inputWidth});
+  input = input.view(
+      {batchSize / im2col_step,
+       im2col_step,
+       nInputPlane,
+       inputHeight,
+       inputWidth});
+  gradOffset = gradOffset.view(
+      {batchSize / im2col_step,
+       im2col_step,
+       deformable_group * 2 * kH * kW,
+       outputHeight,
+       outputWidth});
+  offset = offset.view(
+      {batchSize / im2col_step,
+       im2col_step,
+       deformable_group * 2 * kH * kW,
+       outputHeight,
+       outputWidth});
+
+  for (int elt = 0; elt < batchSize / im2col_step; elt++) {
+    // divide into groups
+    columns = columns.view({group, columns.size(0) / group, columns.size(1)});
+    weight = weight.view(
+        {group,
+         weight.size(0) / group,
+         weight.size(1),
+         weight.size(2),
+         weight.size(3)});
+    gradOutput = gradOutput.view(
+        {gradOutput.size(0),
+         group,
+         gradOutput.size(1) / group,
+         gradOutput.size(2),
+         gradOutput.size(3),
+         gradOutput.size(4)});
+
+    for (int g = 0; g < group; g++) {
+      columns[g] = columns[g].addmm_(
+          weight[g].flatten(1).transpose(0, 1),
+          gradOutput[elt][g].flatten(1),
+          0.0f,
+          1.0f);
+    }
+
+    columns =
+        columns.view({columns.size(0) * columns.size(1), columns.size(2)});
+    gradOutput = gradOutput.view(
+        {gradOutput.size(0),
+         gradOutput.size(1) * gradOutput.size(2),
+         gradOutput.size(3),
+         gradOutput.size(4),
+         gradOutput.size(5)});
+
+    deformable_col2im_coord(
+        columns,
+        input[elt],
+        offset[elt],
+        nInputPlane,
+        inputHeight,
+        inputWidth,
+        kH,
+        kW,
+        padH,
+        padW,
+        dH,
+        dW,
+        dilationH,
+        dilationW,
+        im2col_step,
+        deformable_group,
+        gradOffset[elt]);
+
+    deformable_col2im(
+        columns,
+        offset[elt],
+        nInputPlane,
+        inputHeight,
+        inputWidth,
+        kH,
+        kW,
+        padH,
+        padW,
+        dH,
+        dW,
+        dilationH,
+        dilationW,
+        im2col_step,
+        deformable_group,
+        gradInput[elt]);
+  }
+
+  gradOutput.transpose_(1, 2);
+  gradOutput =
+      gradOutput.view({batchSize, nOutputPlane, outputHeight, outputWidth});
+
+  gradInput = gradInput.view({batchSize, nInputPlane, inputHeight, inputWidth});
+  input = input.view({batchSize, nInputPlane, inputHeight, inputWidth});
+  gradOffset = gradOffset.view(
+      {batchSize, deformable_group * 2 * kH * kW, outputHeight, outputWidth});
+  offset = offset.view(
+      {batchSize, deformable_group * 2 * kH * kW, outputHeight, outputWidth});
+
+  if (batch == 0) {
+    gradOutput = gradOutput.view({nOutputPlane, outputHeight, outputWidth});
+    input = input.view({nInputPlane, inputHeight, inputWidth});
+    gradInput = gradInput.view({nInputPlane, inputHeight, inputWidth});
+    offset = offset.view({offset.size(1), offset.size(2), offset.size(3)});
+    gradOffset =
+        gradOffset.view({offset.size(1), offset.size(2), offset.size(3)});
+  }
+
+  return 1;
+}
+
+int deform_conv_backward_parameters_cuda(
+    at::Tensor input,
+    at::Tensor offset,
+    at::Tensor gradOutput,
+    at::Tensor gradWeight, // at::Tensor gradBias,
+    at::Tensor columns,
+    at::Tensor ones,
+    int kW,
+    int kH,
+    int dW,
+    int dH,
+    int padW,
+    int padH,
+    int dilationW,
+    int dilationH,
+    int group,
+    int deformable_group,
+    float scale,
+    int im2col_step) {
+  // todo: transpose and reshape outGrad
+  // todo: reshape columns
+  // todo: add im2col_step as input
+
+  shape_check(
+      input,
+      offset,
+      &gradOutput,
+      gradWeight,
+      kH,
+      kW,
+      dH,
+      dW,
+      padH,
+      padW,
+      dilationH,
+      dilationW,
+      group,
+      deformable_group);
+
+  input = input.contiguous();
+  offset = offset.contiguous();
+  gradOutput = gradOutput.contiguous();
+
+  int batch = 1;
+
+  if (input.ndimension() == 3) {
+    // Force batch
+    batch = 0;
+    input = input.view(
+        at::IntList({1, input.size(0), input.size(1), input.size(2)}));
+    gradOutput = gradOutput.view(
+        {1, gradOutput.size(0), gradOutput.size(1), gradOutput.size(2)});
+  }
+
+  long batchSize = input.size(0);
+  long nInputPlane = input.size(1);
+  long inputHeight = input.size(2);
+  long inputWidth = input.size(3);
+
+  long nOutputPlane = gradWeight.size(0);
+
+  long outputWidth =
+      (inputWidth + 2 * padW - (dilationW * (kW - 1) + 1)) / dW + 1;
+  long outputHeight =
+      (inputHeight + 2 * padH - (dilationH * (kH - 1) + 1)) / dH + 1;
+
+  TORCH_CHECK((offset.size(0) == batchSize), "invalid batch size of offset");
+
+  columns = at::zeros(
+      {nInputPlane * kW * kH, im2col_step * outputHeight * outputWidth},
+      input.options());
+
+  gradOutput = gradOutput.view(
+      {batchSize / im2col_step,
+       im2col_step,
+       nOutputPlane,
+       outputHeight,
+       outputWidth});
+  gradOutput.transpose_(1, 2);
+
+  at::Tensor gradOutputBuffer = at::zeros_like(gradOutput);
+  gradOutputBuffer = gradOutputBuffer.view(
+      {batchSize / im2col_step,
+       nOutputPlane,
+       im2col_step,
+       outputHeight,
+       outputWidth});
+  gradOutputBuffer.copy_(gradOutput);
+  // gradOutput is not contiguous, so we do reshape (instead of view) next
+  gradOutputBuffer = gradOutputBuffer.reshape(
+      {batchSize / im2col_step,
+       nOutputPlane,
+       im2col_step * outputHeight,
+       outputWidth});
+
+  gradOutput.transpose_(1, 2);
+  gradOutput =
+      gradOutput.view({batchSize, nOutputPlane, outputHeight, outputWidth});
+
+  input = input.view(
+      {batchSize / im2col_step,
+       im2col_step,
+       nInputPlane,
+       inputHeight,
+       inputWidth});
+  offset = offset.view(
+      {batchSize / im2col_step,
+       im2col_step,
+       deformable_group * 2 * kH * kW,
+       outputHeight,
+       outputWidth});
+
+  for (int elt = 0; elt < batchSize / im2col_step; elt++) {
+    deformable_im2col(
+        input[elt],
+        offset[elt],
+        nInputPlane,
+        inputHeight,
+        inputWidth,
+        kH,
+        kW,
+        padH,
+        padW,
+        dH,
+        dW,
+        dilationH,
+        dilationW,
+        im2col_step,
+        deformable_group,
+        columns);
+
+    // divide into group
+    gradOutputBuffer = gradOutputBuffer.view(
+        {gradOutputBuffer.size(0),
+         group,
+         gradOutputBuffer.size(1) / group,
+         gradOutputBuffer.size(2),
+         gradOutputBuffer.size(3)});
+    columns = columns.view({group, columns.size(0) / group, columns.size(1)});
+    gradWeight = gradWeight.view(
+        {group,
+         gradWeight.size(0) / group,
+         gradWeight.size(1),
+         gradWeight.size(2),
+         gradWeight.size(3)});
+
+    for (int g = 0; g < group; g++) {
+      gradWeight[g] = gradWeight[g]
+                          .flatten(1)
+                          .addmm_(
+                              gradOutputBuffer[elt][g].flatten(1),
+                              columns[g].transpose(1, 0),
+                              1.0,
+                              scale)
+                          .view_as(gradWeight[g]);
+    }
+    gradOutputBuffer = gradOutputBuffer.view(
+        {gradOutputBuffer.size(0),
+         gradOutputBuffer.size(1) * gradOutputBuffer.size(2),
+         gradOutputBuffer.size(3),
+         gradOutputBuffer.size(4)});
+    columns =
+        columns.view({columns.size(0) * columns.size(1), columns.size(2)});
+    gradWeight = gradWeight.view(
+        {gradWeight.size(0) * gradWeight.size(1),
+         gradWeight.size(2),
+         gradWeight.size(3),
+         gradWeight.size(4)});
+  }
+
+  input = input.view({batchSize, nInputPlane, inputHeight, inputWidth});
+  offset = offset.view(
+      {batchSize, deformable_group * 2 * kH * kW, outputHeight, outputWidth});
+
+  if (batch == 0) {
+    gradOutput = gradOutput.view({nOutputPlane, outputHeight, outputWidth});
+    input = input.view({nInputPlane, inputHeight, inputWidth});
+  }
+
+  return 1;
+}
+
+void modulated_deform_conv_cuda_forward(
+    at::Tensor input,
+    at::Tensor weight,
+    at::Tensor bias,
+    at::Tensor ones,
+    at::Tensor offset,
+    at::Tensor mask,
+    at::Tensor output,
+    at::Tensor columns,
+    int kernel_h,
+    int kernel_w,
+    const int stride_h,
+    const int stride_w,
+    const int pad_h,
+    const int pad_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int group,
+    const int deformable_group,
+    const bool with_bias) {
+  shape_check(
+      input,
+      offset,
+      NULL,
+      weight,
+      kernel_h,
+      kernel_w,
+      stride_h,
+      stride_w,
+      pad_h,
+      pad_w,
+      dilation_h,
+      dilation_w,
+      group,
+      deformable_group);
+
+  TORCH_CHECK(input.is_contiguous(), "input tensor has to be contiguous");
+  TORCH_CHECK(weight.is_contiguous(), "weight tensor has to be contiguous");
+
+  const int batch = input.size(0);
+  const int channels = input.size(1);
+  const int height = input.size(2);
+  const int width = input.size(3);
+
+  const int channels_out = weight.size(0);
+  const int channels_kernel = weight.size(1);
+  const int kernel_h_ = weight.size(2);
+  const int kernel_w_ = weight.size(3);
+
+  if (kernel_h_ != kernel_h || kernel_w_ != kernel_w)
+    AT_ERROR(
+        "Input shape and kernel shape wont match: (%d x %d vs %d x %d).",
+        kernel_h_,
+        kernel_w,
+        kernel_h_,
+        kernel_w_);
+  if (channels != channels_kernel * group)
+    AT_ERROR(
+        "Input shape and kernel channels wont match: (%d vs %d).",
+        channels,
+        channels_kernel * group);
+
+  const int height_out =
+      (height + 2 * pad_h - (dilation_h * (kernel_h - 1) + 1)) / stride_h + 1;
+  const int width_out =
+      (width + 2 * pad_w - (dilation_w * (kernel_w - 1) + 1)) / stride_w + 1;
+
+  // mask shape check
+  TORCH_CHECK(
+      (mask.size(2) == height_out && mask.size(3) == width_out),
+      "invalid spatial size of mask, expected height: %d width: %d, but "
+      "got height: %d width: %d",
+      height_out,
+      width_out,
+      mask.size(2),
+      mask.size(3));
+
+  TORCH_CHECK(
+      (mask.size(1) == deformable_group * kernel_h * kernel_w),
+      "invalid number of channels of mask");
+
+  if (ones.ndimension() != 2 ||
+      ones.size(0) * ones.size(1) < height_out * width_out) {
+    // Resize plane and fill with ones...
+    ones = at::ones({height_out, width_out}, input.options());
+  }
+
+  // resize output
+  output = output.view({batch, channels_out, height_out, width_out}).zero_();
+  // resize temporary columns
+  columns = at::zeros(
+      {channels * kernel_h * kernel_w, 1 * height_out * width_out},
+      input.options());
+
+  output = output.view(
+      {output.size(0),
+       group,
+       output.size(1) / group,
+       output.size(2),
+       output.size(3)});
+
+  for (int b = 0; b < batch; b++) {
+    modulated_deformable_im2col_cuda(
+        input[b],
+        offset[b],
+        mask[b],
+        1,
+        channels,
+        height,
+        width,
+        height_out,
+        width_out,
+        kernel_h,
+        kernel_w,
+        pad_h,
+        pad_w,
+        stride_h,
+        stride_w,
+        dilation_h,
+        dilation_w,
+        deformable_group,
+        columns);
+
+    // divide into group
+    weight = weight.view(
+        {group,
+         weight.size(0) / group,
+         weight.size(1),
+         weight.size(2),
+         weight.size(3)});
+    columns = columns.view({group, columns.size(0) / group, columns.size(1)});
+
+    for (int g = 0; g < group; g++) {
+      output[b][g] = output[b][g]
+                         .flatten(1)
+                         .addmm_(weight[g].flatten(1), columns[g])
+                         .view_as(output[b][g]);
+    }
+
+    weight = weight.view(
+        {weight.size(0) * weight.size(1),
+         weight.size(2),
+         weight.size(3),
+         weight.size(4)});
+    columns =
+        columns.view({columns.size(0) * columns.size(1), columns.size(2)});
+  }
+
+  output = output.view(
+      {output.size(0),
+       output.size(1) * output.size(2),
+       output.size(3),
+       output.size(4)});
+
+  if (with_bias) {
+    output += bias.view({1, bias.size(0), 1, 1});
+  }
+}
+
+void modulated_deform_conv_cuda_backward(
+    at::Tensor input,
+    at::Tensor weight,
+    at::Tensor bias,
+    at::Tensor ones,
+    at::Tensor offset,
+    at::Tensor mask,
+    at::Tensor columns,
+    at::Tensor grad_input,
+    at::Tensor grad_weight,
+    at::Tensor grad_bias,
+    at::Tensor grad_offset,
+    at::Tensor grad_mask,
+    at::Tensor grad_output,
+    int kernel_h,
+    int kernel_w,
+    int stride_h,
+    int stride_w,
+    int pad_h,
+    int pad_w,
+    int dilation_h,
+    int dilation_w,
+    int group,
+    int deformable_group,
+    const bool with_bias) {
+  shape_check(
+      input,
+      offset,
+      &grad_output,
+      weight,
+      kernel_h,
+      kernel_w,
+      stride_h,
+      stride_w,
+      pad_h,
+      pad_w,
+      dilation_h,
+      dilation_w,
+      group,
+      deformable_group);
+
+  TORCH_CHECK(input.is_contiguous(), "input tensor has to be contiguous");
+  TORCH_CHECK(weight.is_contiguous(), "weight tensor has to be contiguous");
+
+  const int batch = input.size(0);
+  const int channels = input.size(1);
+  const int height = input.size(2);
+  const int width = input.size(3);
+
+  const int channels_kernel = weight.size(1);
+  const int kernel_h_ = weight.size(2);
+  const int kernel_w_ = weight.size(3);
+  if (kernel_h_ != kernel_h || kernel_w_ != kernel_w)
+    AT_ERROR(
+        "Input shape and kernel shape wont match: (%d x %d vs %d x %d).",
+        kernel_h_,
+        kernel_w,
+        kernel_h_,
+        kernel_w_);
+  if (channels != channels_kernel * group)
+    AT_ERROR(
+        "Input shape and kernel channels wont match: (%d vs %d).",
+        channels,
+        channels_kernel * group);
+
+  const int height_out =
+      (height + 2 * pad_h - (dilation_h * (kernel_h - 1) + 1)) / stride_h + 1;
+  const int width_out =
+      (width + 2 * pad_w - (dilation_w * (kernel_w - 1) + 1)) / stride_w + 1;
+
+  // mask shape check
+  TORCH_CHECK(
+      (mask.size(2) == height_out && mask.size(3) == width_out),
+      "invalid spatial size of mask, expected height: %d width: %d, but "
+      "got height: %d width: %d",
+      height_out,
+      width_out,
+      mask.size(2),
+      mask.size(3));
+
+  TORCH_CHECK(
+      (mask.size(1) == deformable_group * kernel_h * kernel_w),
+      "invalid number of channels of mask");
+
+  if (ones.ndimension() != 2 ||
+      ones.size(0) * ones.size(1) < height_out * width_out) {
+    // Resize plane and fill with ones...
+    ones = at::ones({height_out, width_out}, input.options());
+  }
+
+  grad_input = grad_input.view({batch, channels, height, width});
+  columns = at::zeros(
+      {channels * kernel_h * kernel_w, height_out * width_out},
+      input.options());
+
+  grad_output = grad_output.view(
+      {grad_output.size(0),
+       group,
+       grad_output.size(1) / group,
+       grad_output.size(2),
+       grad_output.size(3)});
+
+  for (int b = 0; b < batch; b++) {
+    // divide int group
+    columns = columns.view({group, columns.size(0) / group, columns.size(1)});
+    weight = weight.view(
+        {group,
+         weight.size(0) / group,
+         weight.size(1),
+         weight.size(2),
+         weight.size(3)});
+
+    for (int g = 0; g < group; g++) {
+      columns[g].addmm_(
+          weight[g].flatten(1).transpose(0, 1),
+          grad_output[b][g].flatten(1),
+          0.0f,
+          1.0f);
+    }
+
+    columns =
+        columns.view({columns.size(0) * columns.size(1), columns.size(2)});
+    weight = weight.view(
+        {weight.size(0) * weight.size(1),
+         weight.size(2),
+         weight.size(3),
+         weight.size(4)});
+
+    // gradient w.r.t. input coordinate data
+    modulated_deformable_col2im_coord_cuda(
+        columns,
+        input[b],
+        offset[b],
+        mask[b],
+        1,
+        channels,
+        height,
+        width,
+        height_out,
+        width_out,
+        kernel_h,
+        kernel_w,
+        pad_h,
+        pad_w,
+        stride_h,
+        stride_w,
+        dilation_h,
+        dilation_w,
+        deformable_group,
+        grad_offset[b],
+        grad_mask[b]);
+    // gradient w.r.t. input data
+    modulated_deformable_col2im_cuda(
+        columns,
+        offset[b],
+        mask[b],
+        1,
+        channels,
+        height,
+        width,
+        height_out,
+        width_out,
+        kernel_h,
+        kernel_w,
+        pad_h,
+        pad_w,
+        stride_h,
+        stride_w,
+        dilation_h,
+        dilation_w,
+        deformable_group,
+        grad_input[b]);
+
+    // gradient w.r.t. weight, dWeight should accumulate across the batch and
+    // group
+    modulated_deformable_im2col_cuda(
+        input[b],
+        offset[b],
+        mask[b],
+        1,
+        channels,
+        height,
+        width,
+        height_out,
+        width_out,
+        kernel_h,
+        kernel_w,
+        pad_h,
+        pad_w,
+        stride_h,
+        stride_w,
+        dilation_h,
+        dilation_w,
+        deformable_group,
+        columns);
+
+    columns = columns.view({group, columns.size(0) / group, columns.size(1)});
+    grad_weight = grad_weight.view(
+        {group,
+         grad_weight.size(0) / group,
+         grad_weight.size(1),
+         grad_weight.size(2),
+         grad_weight.size(3)});
+    if (with_bias)
+      grad_bias = grad_bias.view({group, grad_bias.size(0) / group});
+
+    for (int g = 0; g < group; g++) {
+      grad_weight[g] =
+          grad_weight[g]
+              .flatten(1)
+              .addmm_(grad_output[b][g].flatten(1), columns[g].transpose(0, 1))
+              .view_as(grad_weight[g]);
+      if (with_bias) {
+        grad_bias[g] =
+            grad_bias[g]
+                .view({-1, 1})
+                .addmm_(grad_output[b][g].flatten(1), ones.view({-1, 1}))
+                .view(-1);
+      }
+    }
+
+    columns =
+        columns.view({columns.size(0) * columns.size(1), columns.size(2)});
+    grad_weight = grad_weight.view(
+        {grad_weight.size(0) * grad_weight.size(1),
+         grad_weight.size(2),
+         grad_weight.size(3),
+         grad_weight.size(4)});
+    if (with_bias)
+      grad_bias = grad_bias.view({grad_bias.size(0) * grad_bias.size(1)});
+  }
+  grad_output = grad_output.view(
+      {grad_output.size(0) * grad_output.size(1),
+       grad_output.size(2),
+       grad_output.size(3),
+       grad_output.size(4)});
+}
+
+} // namespace detectron2

data_generation/grit/third_party/CenterNet2/detectron2/layers/csrc/deformable/deform_conv_cuda_kernel.cu

+// Copyright (c) Facebook, Inc. and its affiliates.
+
+// modified from
+// https://github.com/open-mmlab/mmdetection/blob/master/mmdet/ops/dcn/src/deform_conv_cuda_kernel.cu
+// Original license: Apache 2.0
+// clang-format off
+
+// modify from
+// https://github.com/chengdazhi/Deformable-Convolution-V2-PyTorch/blob/mmdetection/mmdet/ops/dcn/src/deform_conv_cuda_kernel.cu
+
+/*!
+ ******************* BEGIN Caffe Copyright Notice and Disclaimer *****************
+ *
+ * COPYRIGHT
+ *
+ * All contributions by the University of California:
+ * Copyright (c) 2014-2017 The Regents of the University of California (Regents)
+ * All rights reserved.
+ *
+ * All other contributions:
+ * Copyright (c) 2014-2017, the respective contributors
+ * All rights reserved.
+ *
+ * Caffe uses a shared copyright model: each contributor holds copyright over
+ * their contributions to Caffe. The project versioning records all such
+ * contribution and copyright details. If a contributor wants to further mark
+ * their specific copyright on a particular contribution, they should indicate
+ * their copyright solely in the commit message of the change when it is
+ * committed.
+ *
+ * LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ * list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+ *FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ *DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ *SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ *OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * CONTRIBUTION AGREEMENT
+ *
+ * By contributing to the BVLC/caffe repository through pull-request, comment,
+ * or otherwise, the contributor releases their content to the
+ * license and copyright terms herein.
+ *
+ ***************** END Caffe Copyright Notice and Disclaimer *********************
+ *
+ * Copyright (c) 2018 Microsoft
+ * Licensed under The MIT License [see LICENSE for details]
+ * \file modulated_deformable_im2col.cuh
+ * \brief Function definitions of converting an image to
+ * column matrix based on kernel, padding, dilation, and offset.
+ * These functions are mainly used in deformable convolution operators.
+ * \ref: https://arxiv.org/abs/1703.06211
+ * \author Yuwen Xiong, Haozhi Qi, Jifeng Dai, Xizhou Zhu, Han Hu, Dazhi Cheng
+ */
+
+#include <ATen/ATen.h>
+#include <c10/cuda/CUDAGuard.h>
+#include <float.h>
+#include <math.h>
+#include <stdio.h>
+#include <THC/THCAtomics.cuh>
+
+using namespace at;
+
+#define CUDA_KERNEL_LOOP(i, n)                                 \
+  for (int i = blockIdx.x * blockDim.x + threadIdx.x; i < (n); \
+       i += blockDim.x * gridDim.x)
+
+
+namespace {
+
+const int CUDA_NUM_THREADS = 1024;
+const int kMaxGridNum = 65535;
+
+inline int GET_BLOCKS(const int N) {
+  return std::min(kMaxGridNum, (N + CUDA_NUM_THREADS - 1) / CUDA_NUM_THREADS);
+}
+
+}
+
+template <typename scalar_t>
+__device__ scalar_t deformable_im2col_bilinear(
+    const scalar_t* bottom_data,
+    const int data_width,
+    const int height,
+    const int width,
+    scalar_t h,
+    scalar_t w) {
+  int h_low = floor(h);
+  int w_low = floor(w);
+  int h_high = h_low + 1;
+  int w_high = w_low + 1;
+
+  scalar_t lh = h - h_low;
+  scalar_t lw = w - w_low;
+  scalar_t hh = 1 - lh, hw = 1 - lw;
+
+  scalar_t v1 = 0;
+  if (h_low >= 0 && w_low >= 0)
+    v1 = bottom_data[h_low * data_width + w_low];
+  scalar_t v2 = 0;
+  if (h_low >= 0 && w_high <= width - 1)
+    v2 = bottom_data[h_low * data_width + w_high];
+  scalar_t v3 = 0;
+  if (h_high <= height - 1 && w_low >= 0)
+    v3 = bottom_data[h_high * data_width + w_low];
+  scalar_t v4 = 0;
+  if (h_high <= height - 1 && w_high <= width - 1)
+    v4 = bottom_data[h_high * data_width + w_high];
+
+  scalar_t w1 = hh * hw, w2 = hh * lw, w3 = lh * hw, w4 = lh * lw;
+
+  scalar_t val = (w1 * v1 + w2 * v2 + w3 * v3 + w4 * v4);
+  return val;
+}
+
+template <typename scalar_t>
+__device__ scalar_t get_gradient_weight(
+    scalar_t argmax_h,
+    scalar_t argmax_w,
+    const int h,
+    const int w,
+    const int height,
+    const int width) {
+  if (argmax_h <= -1 || argmax_h >= height || argmax_w <= -1 ||
+      argmax_w >= width) {
+    // empty
+    return 0;
+  }
+
+  int argmax_h_low = floor(argmax_h);
+  int argmax_w_low = floor(argmax_w);
+  int argmax_h_high = argmax_h_low + 1;
+  int argmax_w_high = argmax_w_low + 1;
+
+  scalar_t weight = 0;
+  if (h == argmax_h_low && w == argmax_w_low)
+    weight = (h + 1 - argmax_h) * (w + 1 - argmax_w);
+  if (h == argmax_h_low && w == argmax_w_high)
+    weight = (h + 1 - argmax_h) * (argmax_w + 1 - w);
+  if (h == argmax_h_high && w == argmax_w_low)
+    weight = (argmax_h + 1 - h) * (w + 1 - argmax_w);
+  if (h == argmax_h_high && w == argmax_w_high)
+    weight = (argmax_h + 1 - h) * (argmax_w + 1 - w);
+  return weight;
+}
+
+template <typename scalar_t>
+__device__ scalar_t get_coordinate_weight(
+    scalar_t argmax_h,
+    scalar_t argmax_w,
+    const int height,
+    const int width,
+    const scalar_t* im_data,
+    const int data_width,
+    const int bp_dir) {
+  if (argmax_h <= -1 || argmax_h >= height || argmax_w <= -1 ||
+      argmax_w >= width) {
+    // empty
+    return 0;
+  }
+
+  int argmax_h_low = floor(argmax_h);
+  int argmax_w_low = floor(argmax_w);
+  int argmax_h_high = argmax_h_low + 1;
+  int argmax_w_high = argmax_w_low + 1;
+
+  scalar_t weight = 0;
+
+  if (bp_dir == 0) {
+    if (argmax_h_low >= 0 && argmax_w_low >= 0)
+      weight += -1 * (argmax_w_low + 1 - argmax_w) *
+          im_data[argmax_h_low * data_width + argmax_w_low];
+    if (argmax_h_low >= 0 && argmax_w_high <= width - 1)
+      weight += -1 * (argmax_w - argmax_w_low) *
+          im_data[argmax_h_low * data_width + argmax_w_high];
+    if (argmax_h_high <= height - 1 && argmax_w_low >= 0)
+      weight += (argmax_w_low + 1 - argmax_w) *
+          im_data[argmax_h_high * data_width + argmax_w_low];
+    if (argmax_h_high <= height - 1 && argmax_w_high <= width - 1)
+      weight += (argmax_w - argmax_w_low) *
+          im_data[argmax_h_high * data_width + argmax_w_high];
+  } else if (bp_dir == 1) {
+    if (argmax_h_low >= 0 && argmax_w_low >= 0)
+      weight += -1 * (argmax_h_low + 1 - argmax_h) *
+          im_data[argmax_h_low * data_width + argmax_w_low];
+    if (argmax_h_low >= 0 && argmax_w_high <= width - 1)
+      weight += (argmax_h_low + 1 - argmax_h) *
+          im_data[argmax_h_low * data_width + argmax_w_high];
+    if (argmax_h_high <= height - 1 && argmax_w_low >= 0)
+      weight += -1 * (argmax_h - argmax_h_low) *
+          im_data[argmax_h_high * data_width + argmax_w_low];
+    if (argmax_h_high <= height - 1 && argmax_w_high <= width - 1)
+      weight += (argmax_h - argmax_h_low) *
+          im_data[argmax_h_high * data_width + argmax_w_high];
+  }
+
+  return weight;
+}
+
+template <typename scalar_t>
+__global__ void deformable_im2col_gpu_kernel(
+    const int n,
+    const scalar_t* data_im,
+    const scalar_t* data_offset,
+    const int height,
+    const int width,
+    const int kernel_h,
+    const int kernel_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int channel_per_deformable_group,
+    const int batch_size,
+    const int num_channels,
+    const int deformable_group,
+    const int height_col,
+    const int width_col,
+    scalar_t* data_col) {
+  CUDA_KERNEL_LOOP(index, n) {
+    // index index of output matrix
+    const int w_col = index % width_col;
+    const int h_col = (index / width_col) % height_col;
+    const int b_col = (index / width_col / height_col) % batch_size;
+    const int c_im = (index / width_col / height_col) / batch_size;
+    const int c_col = c_im * kernel_h * kernel_w;
+
+    // compute deformable group index
+    const int deformable_group_index = c_im / channel_per_deformable_group;
+
+    const int h_in = h_col * stride_h - pad_h;
+    const int w_in = w_col * stride_w - pad_w;
+    scalar_t* data_col_ptr = data_col +
+        ((c_col * batch_size + b_col) * height_col + h_col) * width_col + w_col;
+    // const scalar_t* data_im_ptr = data_im + ((b_col * num_channels + c_im) *
+    // height + h_in) * width + w_in;
+    const scalar_t* data_im_ptr =
+        data_im + (b_col * num_channels + c_im) * height * width;
+    const scalar_t* data_offset_ptr = data_offset +
+        (b_col * deformable_group + deformable_group_index) * 2 * kernel_h *
+            kernel_w * height_col * width_col;
+
+    for (int i = 0; i < kernel_h; ++i) {
+      for (int j = 0; j < kernel_w; ++j) {
+        const int data_offset_h_ptr =
+            ((2 * (i * kernel_w + j)) * height_col + h_col) * width_col + w_col;
+        const int data_offset_w_ptr =
+            ((2 * (i * kernel_w + j) + 1) * height_col + h_col) * width_col +
+            w_col;
+        const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr];
+        const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr];
+        scalar_t val = static_cast<scalar_t>(0);
+        const scalar_t h_im = h_in + i * dilation_h + offset_h;
+        const scalar_t w_im = w_in + j * dilation_w + offset_w;
+        if (h_im > -1 && w_im > -1 && h_im < height && w_im < width) {
+          // const scalar_t map_h = i * dilation_h + offset_h;
+          // const scalar_t map_w = j * dilation_w + offset_w;
+          // const int cur_height = height - h_in;
+          // const int cur_width = width - w_in;
+          // val = deformable_im2col_bilinear(data_im_ptr, width, cur_height,
+          // cur_width, map_h, map_w);
+          val = deformable_im2col_bilinear(
+              data_im_ptr, width, height, width, h_im, w_im);
+        }
+        *data_col_ptr = val;
+        data_col_ptr += batch_size * height_col * width_col;
+      }
+    }
+  }
+}
+
+
+template <typename scalar_t>
+__global__ void deformable_col2im_gpu_kernel(
+    const int n,
+    const scalar_t* data_col,
+    const scalar_t* data_offset,
+    const int channels,
+    const int height,
+    const int width,
+    const int kernel_h,
+    const int kernel_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int channel_per_deformable_group,
+    const int batch_size,
+    const int deformable_group,
+    const int height_col,
+    const int width_col,
+    scalar_t* grad_im) {
+  CUDA_KERNEL_LOOP(index, n) {
+    const int j = (index / width_col / height_col / batch_size) % kernel_w;
+    const int i =
+        (index / width_col / height_col / batch_size / kernel_w) % kernel_h;
+    const int c =
+        index / width_col / height_col / batch_size / kernel_w / kernel_h;
+    // compute the start and end of the output
+
+    const int deformable_group_index = c / channel_per_deformable_group;
+
+    int w_out = index % width_col;
+    int h_out = (index / width_col) % height_col;
+    int b = (index / width_col / height_col) % batch_size;
+    int w_in = w_out * stride_w - pad_w;
+    int h_in = h_out * stride_h - pad_h;
+
+    const scalar_t* data_offset_ptr = data_offset +
+        (b * deformable_group + deformable_group_index) * 2 * kernel_h *
+            kernel_w * height_col * width_col;
+    const int data_offset_h_ptr =
+        ((2 * (i * kernel_w + j)) * height_col + h_out) * width_col + w_out;
+    const int data_offset_w_ptr =
+        ((2 * (i * kernel_w + j) + 1) * height_col + h_out) * width_col + w_out;
+    const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr];
+    const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr];
+    const scalar_t cur_inv_h_data = h_in + i * dilation_h + offset_h;
+    const scalar_t cur_inv_w_data = w_in + j * dilation_w + offset_w;
+
+    const scalar_t cur_top_grad = data_col[index];
+    const int cur_h = (int)cur_inv_h_data;
+    const int cur_w = (int)cur_inv_w_data;
+    for (int dy = -2; dy <= 2; dy++) {
+      for (int dx = -2; dx <= 2; dx++) {
+        if (cur_h + dy >= 0 && cur_h + dy < height && cur_w + dx >= 0 &&
+            cur_w + dx < width && abs(cur_inv_h_data - (cur_h + dy)) < 1 &&
+            abs(cur_inv_w_data - (cur_w + dx)) < 1) {
+          int cur_bottom_grad_pos =
+              ((b * channels + c) * height + cur_h + dy) * width + cur_w + dx;
+          scalar_t weight = get_gradient_weight(
+              cur_inv_h_data,
+              cur_inv_w_data,
+              cur_h + dy,
+              cur_w + dx,
+              height,
+              width);
+          atomicAdd(grad_im + cur_bottom_grad_pos, weight * cur_top_grad);
+        }
+      }
+    }
+  }
+}
+
+
+template <typename scalar_t>
+__global__ void deformable_col2im_coord_gpu_kernel(
+    const int n,
+    const scalar_t* data_col,
+    const scalar_t* data_im,
+    const scalar_t* data_offset,
+    const int channels,
+    const int height,
+    const int width,
+    const int kernel_h,
+    const int kernel_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int channel_per_deformable_group,
+    const int batch_size,
+    const int offset_channels,
+    const int deformable_group,
+    const int height_col,
+    const int width_col,
+    scalar_t* grad_offset) {
+  CUDA_KERNEL_LOOP(index, n) {
+    scalar_t val = 0;
+    int w = index % width_col;
+    int h = (index / width_col) % height_col;
+    int c = (index / width_col / height_col) % offset_channels;
+    int b = (index / width_col / height_col) / offset_channels;
+    // compute the start and end of the output
+
+    const int deformable_group_index = c / (2 * kernel_h * kernel_w);
+    const int col_step = kernel_h * kernel_w;
+    int cnt = 0;
+    const scalar_t* data_col_ptr = data_col +
+        deformable_group_index * channel_per_deformable_group * batch_size *
+            width_col * height_col;
+    const scalar_t* data_im_ptr = data_im +
+        (b * deformable_group + deformable_group_index) *
+            channel_per_deformable_group / kernel_h / kernel_w * height * width;
+    const scalar_t* data_offset_ptr = data_offset +
+        (b * deformable_group + deformable_group_index) * 2 * kernel_h *
+            kernel_w * height_col * width_col;
+
+    const int offset_c = c - deformable_group_index * 2 * kernel_h * kernel_w;
+
+    for (int col_c = (offset_c / 2); col_c < channel_per_deformable_group;
+         col_c += col_step) {
+      const int col_pos =
+          (((col_c * batch_size + b) * height_col) + h) * width_col + w;
+      const int bp_dir = offset_c % 2;
+
+      int j = (col_pos / width_col / height_col / batch_size) % kernel_w;
+      int i =
+          (col_pos / width_col / height_col / batch_size / kernel_w) % kernel_h;
+      int w_out = col_pos % width_col;
+      int h_out = (col_pos / width_col) % height_col;
+      int w_in = w_out * stride_w - pad_w;
+      int h_in = h_out * stride_h - pad_h;
+      const int data_offset_h_ptr =
+          (((2 * (i * kernel_w + j)) * height_col + h_out) * width_col + w_out);
+      const int data_offset_w_ptr =
+          (((2 * (i * kernel_w + j) + 1) * height_col + h_out) * width_col +
+           w_out);
+      const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr];
+      const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr];
+      scalar_t inv_h = h_in + i * dilation_h + offset_h;
+      scalar_t inv_w = w_in + j * dilation_w + offset_w;
+      if (inv_h <= -1 || inv_w <= -1 || inv_h >= height || inv_w >= width) {
+        inv_h = inv_w = -2;
+      }
+      const scalar_t weight = get_coordinate_weight(
+          inv_h,
+          inv_w,
+          height,
+          width,
+          data_im_ptr + cnt * height * width,
+          width,
+          bp_dir);
+      val += weight * data_col_ptr[col_pos];
+      cnt += 1;
+    }
+
+    grad_offset[index] = val;
+  }
+}
+
+
+namespace detectron2 {
+
+void deformable_im2col(
+    const at::Tensor data_im,
+    const at::Tensor data_offset,
+    const int channels,
+    const int height,
+    const int width,
+    const int ksize_h,
+    const int ksize_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int parallel_imgs,
+    const int deformable_group,
+    at::Tensor data_col) {
+  // num_axes should be smaller than block size
+  // todo: check parallel_imgs is correctly passed in
+  int height_col =
+      (height + 2 * pad_h - (dilation_h * (ksize_h - 1) + 1)) / stride_h + 1;
+  int width_col =
+      (width + 2 * pad_w - (dilation_w * (ksize_w - 1) + 1)) / stride_w + 1;
+  int num_kernels = channels * height_col * width_col * parallel_imgs;
+  int channel_per_deformable_group = channels / deformable_group;
+
+  at::cuda::CUDAGuard device_guard(data_im.device());
+  cudaStream_t stream = at::cuda::getCurrentCUDAStream();
+
+  AT_DISPATCH_FLOATING_TYPES_AND_HALF(
+      data_im.scalar_type(), "deformable_im2col_gpu", ([&] {
+        const scalar_t* data_im_ = data_im.data_ptr<scalar_t>();
+        const scalar_t* data_offset_ = data_offset.data_ptr<scalar_t>();
+        scalar_t* data_col_ = data_col.data_ptr<scalar_t>();
+
+        deformable_im2col_gpu_kernel<<<
+            GET_BLOCKS(num_kernels),
+            CUDA_NUM_THREADS,
+            0,
+            stream>>>(
+            num_kernels,
+            data_im_,
+            data_offset_,
+            height,
+            width,
+            ksize_h,
+            ksize_w,
+            pad_h,
+            pad_w,
+            stride_h,
+            stride_w,
+            dilation_h,
+            dilation_w,
+            channel_per_deformable_group,
+            parallel_imgs,
+            channels,
+            deformable_group,
+            height_col,
+            width_col,
+            data_col_);
+      }));
+
+  cudaError_t err = cudaGetLastError();
+  if (err != cudaSuccess) {
+    printf("error in deformable_im2col: %s\n", cudaGetErrorString(err));
+  }
+}
+
+
+void deformable_col2im(
+    const at::Tensor data_col,
+    const at::Tensor data_offset,
+    const int channels,
+    const int height,
+    const int width,
+    const int ksize_h,
+    const int ksize_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int parallel_imgs,
+    const int deformable_group,
+    at::Tensor grad_im) {
+  // todo: make sure parallel_imgs is passed in correctly
+  int height_col =
+      (height + 2 * pad_h - (dilation_h * (ksize_h - 1) + 1)) / stride_h + 1;
+  int width_col =
+      (width + 2 * pad_w - (dilation_w * (ksize_w - 1) + 1)) / stride_w + 1;
+  int num_kernels =
+      channels * ksize_h * ksize_w * height_col * width_col * parallel_imgs;
+  int channel_per_deformable_group = channels / deformable_group;
+
+  at::cuda::CUDAGuard device_guard(data_col.device());
+  cudaStream_t stream = at::cuda::getCurrentCUDAStream();
+
+  AT_DISPATCH_FLOATING_TYPES_AND_HALF(
+      data_col.scalar_type(), "deformable_col2im_gpu", ([&] {
+        const scalar_t* data_col_ = data_col.data_ptr<scalar_t>();
+        const scalar_t* data_offset_ = data_offset.data_ptr<scalar_t>();
+        scalar_t* grad_im_ = grad_im.data_ptr<scalar_t>();
+
+        deformable_col2im_gpu_kernel<<<
+            GET_BLOCKS(num_kernels),
+            CUDA_NUM_THREADS,
+            0,
+            stream>>>(
+            num_kernels,
+            data_col_,
+            data_offset_,
+            channels,
+            height,
+            width,
+            ksize_h,
+            ksize_w,
+            pad_h,
+            pad_w,
+            stride_h,
+            stride_w,
+            dilation_h,
+            dilation_w,
+            channel_per_deformable_group,
+            parallel_imgs,
+            deformable_group,
+            height_col,
+            width_col,
+            grad_im_);
+      }));
+
+  cudaError_t err = cudaGetLastError();
+  if (err != cudaSuccess) {
+    printf("error in deformable_col2im: %s\n", cudaGetErrorString(err));
+  }
+}
+
+
+void deformable_col2im_coord(
+    const at::Tensor data_col,
+    const at::Tensor data_im,
+    const at::Tensor data_offset,
+    const int channels,
+    const int height,
+    const int width,
+    const int ksize_h,
+    const int ksize_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int parallel_imgs,
+    const int deformable_group,
+    at::Tensor grad_offset) {
+  int height_col =
+      (height + 2 * pad_h - (dilation_h * (ksize_h - 1) + 1)) / stride_h + 1;
+  int width_col =
+      (width + 2 * pad_w - (dilation_w * (ksize_w - 1) + 1)) / stride_w + 1;
+  int num_kernels = height_col * width_col * 2 * ksize_h * ksize_w *
+      deformable_group * parallel_imgs;
+  int channel_per_deformable_group =
+      channels * ksize_h * ksize_w / deformable_group;
+
+  at::cuda::CUDAGuard device_guard(data_col.device());
+  cudaStream_t stream = at::cuda::getCurrentCUDAStream();
+
+  AT_DISPATCH_FLOATING_TYPES_AND_HALF(
+      data_col.scalar_type(), "deformable_col2im_coord_gpu", ([&] {
+        const scalar_t* data_col_ = data_col.data_ptr<scalar_t>();
+        const scalar_t* data_im_ = data_im.data_ptr<scalar_t>();
+        const scalar_t* data_offset_ = data_offset.data_ptr<scalar_t>();
+        scalar_t* grad_offset_ = grad_offset.data_ptr<scalar_t>();
+
+        deformable_col2im_coord_gpu_kernel<<<
+            GET_BLOCKS(num_kernels),
+            CUDA_NUM_THREADS,
+            0,
+            stream>>>(
+            num_kernels,
+            data_col_,
+            data_im_,
+            data_offset_,
+            channels,
+            height,
+            width,
+            ksize_h,
+            ksize_w,
+            pad_h,
+            pad_w,
+            stride_h,
+            stride_w,
+            dilation_h,
+            dilation_w,
+            channel_per_deformable_group,
+            parallel_imgs,
+            2 * ksize_h * ksize_w * deformable_group,
+            deformable_group,
+            height_col,
+            width_col,
+            grad_offset_);
+      }));
+}
+
+} // namespace detectron2
+
+
+template <typename scalar_t>
+__device__ scalar_t dmcn_im2col_bilinear(
+    const scalar_t* bottom_data,
+    const int data_width,
+    const int height,
+    const int width,
+    scalar_t h,
+    scalar_t w) {
+  int h_low = floor(h);
+  int w_low = floor(w);
+  int h_high = h_low + 1;
+  int w_high = w_low + 1;
+
+  scalar_t lh = h - h_low;
+  scalar_t lw = w - w_low;
+  scalar_t hh = 1 - lh, hw = 1 - lw;
+
+  scalar_t v1 = 0;
+  if (h_low >= 0 && w_low >= 0)
+    v1 = bottom_data[h_low * data_width + w_low];
+  scalar_t v2 = 0;
+  if (h_low >= 0 && w_high <= width - 1)
+    v2 = bottom_data[h_low * data_width + w_high];
+  scalar_t v3 = 0;
+  if (h_high <= height - 1 && w_low >= 0)
+    v3 = bottom_data[h_high * data_width + w_low];
+  scalar_t v4 = 0;
+  if (h_high <= height - 1 && w_high <= width - 1)
+    v4 = bottom_data[h_high * data_width + w_high];
+
+  scalar_t w1 = hh * hw, w2 = hh * lw, w3 = lh * hw, w4 = lh * lw;
+
+  scalar_t val = (w1 * v1 + w2 * v2 + w3 * v3 + w4 * v4);
+  return val;
+}
+
+template <typename scalar_t>
+__device__ scalar_t dmcn_get_gradient_weight(
+    scalar_t argmax_h,
+    scalar_t argmax_w,
+    const int h,
+    const int w,
+    const int height,
+    const int width) {
+  if (argmax_h <= -1 || argmax_h >= height || argmax_w <= -1 ||
+      argmax_w >= width) {
+    // empty
+    return 0;
+  }
+
+  int argmax_h_low = floor(argmax_h);
+  int argmax_w_low = floor(argmax_w);
+  int argmax_h_high = argmax_h_low + 1;
+  int argmax_w_high = argmax_w_low + 1;
+
+  scalar_t weight = 0;
+  if (h == argmax_h_low && w == argmax_w_low)
+    weight = (h + 1 - argmax_h) * (w + 1 - argmax_w);
+  if (h == argmax_h_low && w == argmax_w_high)
+    weight = (h + 1 - argmax_h) * (argmax_w + 1 - w);
+  if (h == argmax_h_high && w == argmax_w_low)
+    weight = (argmax_h + 1 - h) * (w + 1 - argmax_w);
+  if (h == argmax_h_high && w == argmax_w_high)
+    weight = (argmax_h + 1 - h) * (argmax_w + 1 - w);
+  return weight;
+}
+
+template <typename scalar_t>
+__device__ scalar_t dmcn_get_coordinate_weight(
+    scalar_t argmax_h,
+    scalar_t argmax_w,
+    const int height,
+    const int width,
+    const scalar_t* im_data,
+    const int data_width,
+    const int bp_dir) {
+  if (argmax_h <= -1 || argmax_h >= height || argmax_w <= -1 ||
+      argmax_w >= width) {
+    // empty
+    return 0;
+  }
+
+  int argmax_h_low = floor(argmax_h);
+  int argmax_w_low = floor(argmax_w);
+  int argmax_h_high = argmax_h_low + 1;
+  int argmax_w_high = argmax_w_low + 1;
+
+  scalar_t weight = 0;
+
+  if (bp_dir == 0) {
+    if (argmax_h_low >= 0 && argmax_w_low >= 0)
+      weight += -1 * (argmax_w_low + 1 - argmax_w) *
+          im_data[argmax_h_low * data_width + argmax_w_low];
+    if (argmax_h_low >= 0 && argmax_w_high <= width - 1)
+      weight += -1 * (argmax_w - argmax_w_low) *
+          im_data[argmax_h_low * data_width + argmax_w_high];
+    if (argmax_h_high <= height - 1 && argmax_w_low >= 0)
+      weight += (argmax_w_low + 1 - argmax_w) *
+          im_data[argmax_h_high * data_width + argmax_w_low];
+    if (argmax_h_high <= height - 1 && argmax_w_high <= width - 1)
+      weight += (argmax_w - argmax_w_low) *
+          im_data[argmax_h_high * data_width + argmax_w_high];
+  } else if (bp_dir == 1) {
+    if (argmax_h_low >= 0 && argmax_w_low >= 0)
+      weight += -1 * (argmax_h_low + 1 - argmax_h) *
+          im_data[argmax_h_low * data_width + argmax_w_low];
+    if (argmax_h_low >= 0 && argmax_w_high <= width - 1)
+      weight += (argmax_h_low + 1 - argmax_h) *
+          im_data[argmax_h_low * data_width + argmax_w_high];
+    if (argmax_h_high <= height - 1 && argmax_w_low >= 0)
+      weight += -1 * (argmax_h - argmax_h_low) *
+          im_data[argmax_h_high * data_width + argmax_w_low];
+    if (argmax_h_high <= height - 1 && argmax_w_high <= width - 1)
+      weight += (argmax_h - argmax_h_low) *
+          im_data[argmax_h_high * data_width + argmax_w_high];
+  }
+
+  return weight;
+}
+
+template <typename scalar_t>
+__global__ void modulated_deformable_im2col_gpu_kernel(
+    const int n,
+    const scalar_t* data_im,
+    const scalar_t* data_offset,
+    const scalar_t* data_mask,
+    const int height,
+    const int width,
+    const int kernel_h,
+    const int kernel_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int channel_per_deformable_group,
+    const int batch_size,
+    const int num_channels,
+    const int deformable_group,
+    const int height_col,
+    const int width_col,
+    scalar_t* data_col) {
+  CUDA_KERNEL_LOOP(index, n) {
+    // index index of output matrix
+    const int w_col = index % width_col;
+    const int h_col = (index / width_col) % height_col;
+    const int b_col = (index / width_col / height_col) % batch_size;
+    const int c_im = (index / width_col / height_col) / batch_size;
+    const int c_col = c_im * kernel_h * kernel_w;
+
+    // compute deformable group index
+    const int deformable_group_index = c_im / channel_per_deformable_group;
+
+    const int h_in = h_col * stride_h - pad_h;
+    const int w_in = w_col * stride_w - pad_w;
+
+    scalar_t* data_col_ptr = data_col +
+        ((c_col * batch_size + b_col) * height_col + h_col) * width_col + w_col;
+    // const float* data_im_ptr = data_im + ((b_col * num_channels + c_im) *
+    // height + h_in) * width + w_in;
+    const scalar_t* data_im_ptr =
+        data_im + (b_col * num_channels + c_im) * height * width;
+    const scalar_t* data_offset_ptr = data_offset +
+        (b_col * deformable_group + deformable_group_index) * 2 * kernel_h *
+            kernel_w * height_col * width_col;
+
+    const scalar_t* data_mask_ptr = data_mask +
+        (b_col * deformable_group + deformable_group_index) * kernel_h *
+            kernel_w * height_col * width_col;
+
+    for (int i = 0; i < kernel_h; ++i) {
+      for (int j = 0; j < kernel_w; ++j) {
+        const int data_offset_h_ptr =
+            ((2 * (i * kernel_w + j)) * height_col + h_col) * width_col + w_col;
+        const int data_offset_w_ptr =
+            ((2 * (i * kernel_w + j) + 1) * height_col + h_col) * width_col +
+            w_col;
+        const int data_mask_hw_ptr =
+            ((i * kernel_w + j) * height_col + h_col) * width_col + w_col;
+        const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr];
+        const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr];
+        const scalar_t mask = data_mask_ptr[data_mask_hw_ptr];
+        scalar_t val = static_cast<scalar_t>(0);
+        const scalar_t h_im = h_in + i * dilation_h + offset_h;
+        const scalar_t w_im = w_in + j * dilation_w + offset_w;
+        // if (h_im >= 0 && w_im >= 0 && h_im < height && w_im < width) {
+        if (h_im > -1 && w_im > -1 && h_im < height && w_im < width) {
+          // const float map_h = i * dilation_h + offset_h;
+          // const float map_w = j * dilation_w + offset_w;
+          // const int cur_height = height - h_in;
+          // const int cur_width = width - w_in;
+          // val = dmcn_im2col_bilinear(data_im_ptr, width, cur_height,
+          // cur_width, map_h, map_w);
+          val = dmcn_im2col_bilinear(
+              data_im_ptr, width, height, width, h_im, w_im);
+        }
+        *data_col_ptr = val * mask;
+        data_col_ptr += batch_size * height_col * width_col;
+        // data_col_ptr += height_col * width_col;
+      }
+    }
+  }
+}
+
+template <typename scalar_t>
+__global__ void modulated_deformable_col2im_gpu_kernel(
+    const int n,
+    const scalar_t* data_col,
+    const scalar_t* data_offset,
+    const scalar_t* data_mask,
+    const int channels,
+    const int height,
+    const int width,
+    const int kernel_h,
+    const int kernel_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int channel_per_deformable_group,
+    const int batch_size,
+    const int deformable_group,
+    const int height_col,
+    const int width_col,
+    scalar_t* grad_im) {
+  CUDA_KERNEL_LOOP(index, n) {
+    const int j = (index / width_col / height_col / batch_size) % kernel_w;
+    const int i =
+        (index / width_col / height_col / batch_size / kernel_w) % kernel_h;
+    const int c =
+        index / width_col / height_col / batch_size / kernel_w / kernel_h;
+    // compute the start and end of the output
+
+    const int deformable_group_index = c / channel_per_deformable_group;
+
+    int w_out = index % width_col;
+    int h_out = (index / width_col) % height_col;
+    int b = (index / width_col / height_col) % batch_size;
+    int w_in = w_out * stride_w - pad_w;
+    int h_in = h_out * stride_h - pad_h;
+
+    const scalar_t* data_offset_ptr = data_offset +
+        (b * deformable_group + deformable_group_index) * 2 * kernel_h *
+            kernel_w * height_col * width_col;
+    const scalar_t* data_mask_ptr = data_mask +
+        (b * deformable_group + deformable_group_index) * kernel_h * kernel_w *
+            height_col * width_col;
+    const int data_offset_h_ptr =
+        ((2 * (i * kernel_w + j)) * height_col + h_out) * width_col + w_out;
+    const int data_offset_w_ptr =
+        ((2 * (i * kernel_w + j) + 1) * height_col + h_out) * width_col + w_out;
+    const int data_mask_hw_ptr =
+        ((i * kernel_w + j) * height_col + h_out) * width_col + w_out;
+    const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr];
+    const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr];
+    const scalar_t mask = data_mask_ptr[data_mask_hw_ptr];
+    const scalar_t cur_inv_h_data = h_in + i * dilation_h + offset_h;
+    const scalar_t cur_inv_w_data = w_in + j * dilation_w + offset_w;
+
+    const scalar_t cur_top_grad = data_col[index] * mask;
+    const int cur_h = (int)cur_inv_h_data;
+    const int cur_w = (int)cur_inv_w_data;
+    for (int dy = -2; dy <= 2; dy++) {
+      for (int dx = -2; dx <= 2; dx++) {
+        if (cur_h + dy >= 0 && cur_h + dy < height && cur_w + dx >= 0 &&
+            cur_w + dx < width && abs(cur_inv_h_data - (cur_h + dy)) < 1 &&
+            abs(cur_inv_w_data - (cur_w + dx)) < 1) {
+          int cur_bottom_grad_pos =
+              ((b * channels + c) * height + cur_h + dy) * width + cur_w + dx;
+          scalar_t weight = dmcn_get_gradient_weight(
+              cur_inv_h_data,
+              cur_inv_w_data,
+              cur_h + dy,
+              cur_w + dx,
+              height,
+              width);
+          atomicAdd(grad_im + cur_bottom_grad_pos, weight * cur_top_grad);
+        }
+      }
+    }
+  }
+}
+
+template <typename scalar_t>
+__global__ void modulated_deformable_col2im_coord_gpu_kernel(
+    const int n,
+    const scalar_t* data_col,
+    const scalar_t* data_im,
+    const scalar_t* data_offset,
+    const scalar_t* data_mask,
+    const int channels,
+    const int height,
+    const int width,
+    const int kernel_h,
+    const int kernel_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int channel_per_deformable_group,
+    const int batch_size,
+    const int offset_channels,
+    const int deformable_group,
+    const int height_col,
+    const int width_col,
+    scalar_t* grad_offset,
+    scalar_t* grad_mask) {
+  CUDA_KERNEL_LOOP(index, n) {
+    scalar_t val = 0, mval = 0;
+    int w = index % width_col;
+    int h = (index / width_col) % height_col;
+    int c = (index / width_col / height_col) % offset_channels;
+    int b = (index / width_col / height_col) / offset_channels;
+    // compute the start and end of the output
+
+    const int deformable_group_index = c / (2 * kernel_h * kernel_w);
+    const int col_step = kernel_h * kernel_w;
+    int cnt = 0;
+    const scalar_t* data_col_ptr = data_col +
+        deformable_group_index * channel_per_deformable_group * batch_size *
+            width_col * height_col;
+    const scalar_t* data_im_ptr = data_im +
+        (b * deformable_group + deformable_group_index) *
+            channel_per_deformable_group / kernel_h / kernel_w * height * width;
+    const scalar_t* data_offset_ptr = data_offset +
+        (b * deformable_group + deformable_group_index) * 2 * kernel_h *
+            kernel_w * height_col * width_col;
+    const scalar_t* data_mask_ptr = data_mask +
+        (b * deformable_group + deformable_group_index) * kernel_h * kernel_w *
+            height_col * width_col;
+
+    const int offset_c = c - deformable_group_index * 2 * kernel_h * kernel_w;
+
+    for (int col_c = (offset_c / 2); col_c < channel_per_deformable_group;
+         col_c += col_step) {
+      const int col_pos =
+          (((col_c * batch_size + b) * height_col) + h) * width_col + w;
+      const int bp_dir = offset_c % 2;
+
+      int j = (col_pos / width_col / height_col / batch_size) % kernel_w;
+      int i =
+          (col_pos / width_col / height_col / batch_size / kernel_w) % kernel_h;
+      int w_out = col_pos % width_col;
+      int h_out = (col_pos / width_col) % height_col;
+      int w_in = w_out * stride_w - pad_w;
+      int h_in = h_out * stride_h - pad_h;
+      const int data_offset_h_ptr =
+          (((2 * (i * kernel_w + j)) * height_col + h_out) * width_col + w_out);
+      const int data_offset_w_ptr =
+          (((2 * (i * kernel_w + j) + 1) * height_col + h_out) * width_col +
+           w_out);
+      const int data_mask_hw_ptr =
+          (((i * kernel_w + j) * height_col + h_out) * width_col + w_out);
+      const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr];
+      const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr];
+      const scalar_t mask = data_mask_ptr[data_mask_hw_ptr];
+      scalar_t inv_h = h_in + i * dilation_h + offset_h;
+      scalar_t inv_w = w_in + j * dilation_w + offset_w;
+      if (inv_h <= -1 || inv_w <= -1 || inv_h >= height || inv_w >= width) {
+        inv_h = inv_w = -2;
+      } else {
+        mval += data_col_ptr[col_pos] *
+            dmcn_im2col_bilinear(
+                    data_im_ptr + cnt * height * width,
+                    width,
+                    height,
+                    width,
+                    inv_h,
+                    inv_w);
+      }
+      const scalar_t weight = dmcn_get_coordinate_weight(
+          inv_h,
+          inv_w,
+          height,
+          width,
+          data_im_ptr + cnt * height * width,
+          width,
+          bp_dir);
+      val += weight * data_col_ptr[col_pos] * mask;
+      cnt += 1;
+    }
+    // KERNEL_ASSIGN(grad_offset[index], offset_req, val);
+    grad_offset[index] = val;
+    if (offset_c % 2 == 0)
+      // KERNEL_ASSIGN(grad_mask[(((b * deformable_group +
+      // deformable_group_index) * kernel_h * kernel_w + offset_c / 2) *
+      // height_col + h) * width_col + w], mask_req, mval);
+      grad_mask
+          [(((b * deformable_group + deformable_group_index) * kernel_h *
+                 kernel_w +
+             offset_c / 2) *
+                height_col +
+            h) *
+               width_col +
+           w] = mval;
+  }
+}
+
+
+namespace detectron2 {
+
+void modulated_deformable_im2col_cuda(
+    const at::Tensor data_im,
+    const at::Tensor data_offset,
+    const at::Tensor data_mask,
+    const int batch_size,
+    const int channels,
+    const int height_im,
+    const int width_im,
+    const int height_col,
+    const int width_col,
+    const int kernel_h,
+    const int kenerl_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int deformable_group,
+    at::Tensor data_col) {
+  // num_axes should be smaller than block size
+  const int channel_per_deformable_group = channels / deformable_group;
+  const int num_kernels = channels * batch_size * height_col * width_col;
+
+  at::cuda::CUDAGuard device_guard(data_im.device());
+  cudaStream_t stream = at::cuda::getCurrentCUDAStream();
+
+  AT_DISPATCH_FLOATING_TYPES_AND_HALF(
+      data_im.scalar_type(), "modulated_deformable_im2col_gpu", ([&] {
+        const scalar_t* data_im_ = data_im.data_ptr<scalar_t>();
+        const scalar_t* data_offset_ = data_offset.data_ptr<scalar_t>();
+        const scalar_t* data_mask_ = data_mask.data_ptr<scalar_t>();
+        scalar_t* data_col_ = data_col.data_ptr<scalar_t>();
+
+        modulated_deformable_im2col_gpu_kernel<<<
+            GET_BLOCKS(num_kernels),
+            CUDA_NUM_THREADS,
+            0,
+            stream>>>(
+            num_kernels,
+            data_im_,
+            data_offset_,
+            data_mask_,
+            height_im,
+            width_im,
+            kernel_h,
+            kenerl_w,
+            pad_h,
+            pad_w,
+            stride_h,
+            stride_w,
+            dilation_h,
+            dilation_w,
+            channel_per_deformable_group,
+            batch_size,
+            channels,
+            deformable_group,
+            height_col,
+            width_col,
+            data_col_);
+      }));
+
+  cudaError_t err = cudaGetLastError();
+  if (err != cudaSuccess) {
+    printf(
+        "error in modulated_deformable_im2col_cuda: %s\n",
+        cudaGetErrorString(err));
+  }
+}
+
+void modulated_deformable_col2im_cuda(
+    const at::Tensor data_col,
+    const at::Tensor data_offset,
+    const at::Tensor data_mask,
+    const int batch_size,
+    const int channels,
+    const int height_im,
+    const int width_im,
+    const int height_col,
+    const int width_col,
+    const int kernel_h,
+    const int kernel_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int deformable_group,
+    at::Tensor grad_im) {
+  const int channel_per_deformable_group = channels / deformable_group;
+  const int num_kernels =
+      channels * kernel_h * kernel_w * batch_size * height_col * width_col;
+
+  at::cuda::CUDAGuard device_guard(data_col.device());
+  cudaStream_t stream = at::cuda::getCurrentCUDAStream();
+
+  AT_DISPATCH_FLOATING_TYPES_AND_HALF(
+      data_col.scalar_type(), "modulated_deformable_col2im_gpu", ([&] {
+        const scalar_t* data_col_ = data_col.data_ptr<scalar_t>();
+        const scalar_t* data_offset_ = data_offset.data_ptr<scalar_t>();
+        const scalar_t* data_mask_ = data_mask.data_ptr<scalar_t>();
+        scalar_t* grad_im_ = grad_im.data_ptr<scalar_t>();
+
+        modulated_deformable_col2im_gpu_kernel<<<
+            GET_BLOCKS(num_kernels),
+            CUDA_NUM_THREADS,
+            0,
+            stream>>>(
+            num_kernels,
+            data_col_,
+            data_offset_,
+            data_mask_,
+            channels,
+            height_im,
+            width_im,
+            kernel_h,
+            kernel_w,
+            pad_h,
+            pad_w,
+            stride_h,
+            stride_w,
+            dilation_h,
+            dilation_w,
+            channel_per_deformable_group,
+            batch_size,
+            deformable_group,
+            height_col,
+            width_col,
+            grad_im_);
+      }));
+
+  cudaError_t err = cudaGetLastError();
+  if (err != cudaSuccess) {
+    printf(
+        "error in modulated_deformable_col2im_cuda: %s\n",
+        cudaGetErrorString(err));
+  }
+}
+
+void modulated_deformable_col2im_coord_cuda(
+    const at::Tensor data_col,
+    const at::Tensor data_im,
+    const at::Tensor data_offset,
+    const at::Tensor data_mask,
+    const int batch_size,
+    const int channels,
+    const int height_im,
+    const int width_im,
+    const int height_col,
+    const int width_col,
+    const int kernel_h,
+    const int kernel_w,
+    const int pad_h,
+    const int pad_w,
+    const int stride_h,
+    const int stride_w,
+    const int dilation_h,
+    const int dilation_w,
+    const int deformable_group,
+    at::Tensor grad_offset,
+    at::Tensor grad_mask) {
+  const int num_kernels = batch_size * height_col * width_col * 2 * kernel_h *
+      kernel_w * deformable_group;
+  const int channel_per_deformable_group =
+      channels * kernel_h * kernel_w / deformable_group;
+
+  at::cuda::CUDAGuard device_guard(data_col.device());
+  cudaStream_t stream = at::cuda::getCurrentCUDAStream();
+
+  AT_DISPATCH_FLOATING_TYPES_AND_HALF(
+      data_col.scalar_type(), "modulated_deformable_col2im_coord_gpu", ([&] {
+        const scalar_t* data_col_ = data_col.data_ptr<scalar_t>();
+        const scalar_t* data_im_ = data_im.data_ptr<scalar_t>();
+        const scalar_t* data_offset_ = data_offset.data_ptr<scalar_t>();
+        const scalar_t* data_mask_ = data_mask.data_ptr<scalar_t>();
+        scalar_t* grad_offset_ = grad_offset.data_ptr<scalar_t>();
+        scalar_t* grad_mask_ = grad_mask.data_ptr<scalar_t>();
+
+        modulated_deformable_col2im_coord_gpu_kernel<<<
+            GET_BLOCKS(num_kernels),
+            CUDA_NUM_THREADS,
+            0,
+            stream>>>(
+            num_kernels,
+            data_col_,
+            data_im_,
+            data_offset_,
+            data_mask_,
+            channels,
+            height_im,
+            width_im,
+            kernel_h,
+            kernel_w,
+            pad_h,
+            pad_w,
+            stride_h,
+            stride_w,
+            dilation_h,
+            dilation_w,
+            channel_per_deformable_group,
+            batch_size,
+            2 * kernel_h * kernel_w * deformable_group,
+            deformable_group,
+            height_col,
+            width_col,
+            grad_offset_,
+            grad_mask_);
+      }));
+  cudaError_t err = cudaGetLastError();
+  if (err != cudaSuccess) {
+    printf(
+        "error in modulated_deformable_col2im_coord_cuda: %s\n",
+        cudaGetErrorString(err));
+  }
+}
+
+} // namespace detectron2

data_generation/grit/third_party/CenterNet2/detectron2/layers/csrc/nms_rotated/nms_rotated.h

+// Copyright (c) Facebook, Inc. and its affiliates.
+#pragma once
+#include <torch/types.h>
+
+namespace detectron2 {
+
+at::Tensor nms_rotated_cpu(
+    const at::Tensor& dets,
+    const at::Tensor& scores,
+    const double iou_threshold);
+
+#if defined(WITH_CUDA) || defined(WITH_HIP)
+at::Tensor nms_rotated_cuda(
+    const at::Tensor& dets,
+    const at::Tensor& scores,
+    const double iou_threshold);
+#endif
+
+// Interface for Python
+// inline is needed to prevent multiple function definitions when this header is
+// included by different cpps
+inline at::Tensor nms_rotated(
+    const at::Tensor& dets,
+    const at::Tensor& scores,
+    const double iou_threshold) {
+  assert(dets.device().is_cuda() == scores.device().is_cuda());
+  if (dets.device().is_cuda()) {
+#if defined(WITH_CUDA) || defined(WITH_HIP)
+    return nms_rotated_cuda(
+        dets.contiguous(), scores.contiguous(), iou_threshold);
+#else
+    AT_ERROR("Detectron2 is not compiled with GPU support!");
+#endif
+  }
+
+  return nms_rotated_cpu(dets.contiguous(), scores.contiguous(), iou_threshold);
+}
+
+} // namespace detectron2

data_generation/grit/third_party/CenterNet2/detectron2/layers/csrc/nms_rotated/nms_rotated_cpu.cpp

+// Copyright (c) Facebook, Inc. and its affiliates.
+#include "../box_iou_rotated/box_iou_rotated_utils.h"
+#include "nms_rotated.h"
+
+namespace detectron2 {
+
+template <typename scalar_t>
+at::Tensor nms_rotated_cpu_kernel(
+    const at::Tensor& dets,
+    const at::Tensor& scores,
+    const double iou_threshold) {
+  // nms_rotated_cpu_kernel is modified from torchvision's nms_cpu_kernel,
+  // however, the code in this function is much shorter because
+  // we delegate the IoU computation for rotated boxes to
+  // the single_box_iou_rotated function in box_iou_rotated_utils.h
+  AT_ASSERTM(dets.device().is_cpu(), "dets must be a CPU tensor");
+  AT_ASSERTM(scores.device().is_cpu(), "scores must be a CPU tensor");
+  AT_ASSERTM(
+      dets.scalar_type() == scores.scalar_type(),
+      "dets should have the same type as scores");
+
+  if (dets.numel() == 0) {
+    return at::empty({0}, dets.options().dtype(at::kLong));
+  }
+
+  auto order_t = std::get<1>(scores.sort(0, /* descending=*/true));
+
+  auto ndets = dets.size(0);
+  at::Tensor suppressed_t = at::zeros({ndets}, dets.options().dtype(at::kByte));
+  at::Tensor keep_t = at::zeros({ndets}, dets.options().dtype(at::kLong));
+
+  auto suppressed = suppressed_t.data_ptr<uint8_t>();
+  auto keep = keep_t.data_ptr<int64_t>();
+  auto order = order_t.data_ptr<int64_t>();
+
+  int64_t num_to_keep = 0;
+
+  for (int64_t _i = 0; _i < ndets; _i++) {
+    auto i = order[_i];
+    if (suppressed[i] == 1) {
+      continue;
+    }
+
+    keep[num_to_keep++] = i;
+
+    for (int64_t _j = _i + 1; _j < ndets; _j++) {
+      auto j = order[_j];
+      if (suppressed[j] == 1) {
+        continue;
+      }
+
+      auto ovr = single_box_iou_rotated<scalar_t>(
+          dets[i].data_ptr<scalar_t>(), dets[j].data_ptr<scalar_t>());
+      if (ovr >= iou_threshold) {
+        suppressed[j] = 1;
+      }
+    }
+  }
+  return keep_t.narrow(/*dim=*/0, /*start=*/0, /*length=*/num_to_keep);
+}
+
+at::Tensor nms_rotated_cpu(
+    // input must be contiguous
+    const at::Tensor& dets,
+    const at::Tensor& scores,
+    const double iou_threshold) {
+  auto result = at::empty({0}, dets.options());
+
+  AT_DISPATCH_FLOATING_TYPES(dets.scalar_type(), "nms_rotated", [&] {
+    result = nms_rotated_cpu_kernel<scalar_t>(dets, scores, iou_threshold);
+  });
+  return result;
+}
+
+} // namespace detectron2

data_generation/grit/third_party/CenterNet2/detectron2/layers/csrc/nms_rotated/nms_rotated_cuda.cu

+// Copyright (c) Facebook, Inc. and its affiliates.
+#include <ATen/ATen.h>
+#include <ATen/cuda/CUDAContext.h>
+#include <c10/cuda/CUDAGuard.h>
+#include <ATen/cuda/CUDAApplyUtils.cuh>
+#ifdef WITH_CUDA
+#include "../box_iou_rotated/box_iou_rotated_utils.h"
+#endif
+// TODO avoid this when pytorch supports "same directory" hipification
+#ifdef WITH_HIP
+#include "box_iou_rotated/box_iou_rotated_utils.h"
+#endif
+
+using namespace detectron2;
+
+namespace {
+int const threadsPerBlock = sizeof(unsigned long long) * 8;
+}
+
+template <typename T>
+__global__ void nms_rotated_cuda_kernel(
+    const int n_boxes,
+    const double iou_threshold,
+    const T* dev_boxes,
+    unsigned long long* dev_mask) {
+  // nms_rotated_cuda_kernel is modified from torchvision's nms_cuda_kernel
+
+  const int row_start = blockIdx.y;
+  const int col_start = blockIdx.x;
+
+  // if (row_start > col_start) return;
+
+  const int row_size =
+      min(n_boxes - row_start * threadsPerBlock, threadsPerBlock);
+  const int col_size =
+      min(n_boxes - col_start * threadsPerBlock, threadsPerBlock);
+
+  // Compared to nms_cuda_kernel, where each box is represented with 4 values
+  // (x1, y1, x2, y2), each rotated box is represented with 5 values
+  // (x_center, y_center, width, height, angle_degrees) here.
+  __shared__ T block_boxes[threadsPerBlock * 5];
+  if (threadIdx.x < col_size) {
+    block_boxes[threadIdx.x * 5 + 0] =
+        dev_boxes[(threadsPerBlock * col_start + threadIdx.x) * 5 + 0];
+    block_boxes[threadIdx.x * 5 + 1] =
+        dev_boxes[(threadsPerBlock * col_start + threadIdx.x) * 5 + 1];
+    block_boxes[threadIdx.x * 5 + 2] =
+        dev_boxes[(threadsPerBlock * col_start + threadIdx.x) * 5 + 2];
+    block_boxes[threadIdx.x * 5 + 3] =
+        dev_boxes[(threadsPerBlock * col_start + threadIdx.x) * 5 + 3];
+    block_boxes[threadIdx.x * 5 + 4] =
+        dev_boxes[(threadsPerBlock * col_start + threadIdx.x) * 5 + 4];
+  }
+  __syncthreads();
+
+  if (threadIdx.x < row_size) {
+    const int cur_box_idx = threadsPerBlock * row_start + threadIdx.x;
+    const T* cur_box = dev_boxes + cur_box_idx * 5;
+    int i = 0;
+    unsigned long long t = 0;
+    int start = 0;
+    if (row_start == col_start) {
+      start = threadIdx.x + 1;
+    }
+    for (i = start; i < col_size; i++) {
+      // Instead of devIoU used by original horizontal nms, here
+      // we use the single_box_iou_rotated function from box_iou_rotated_utils.h
+      if (single_box_iou_rotated<T>(cur_box, block_boxes + i * 5) >
+          iou_threshold) {
+        t |= 1ULL << i;
+      }
+    }
+    const int col_blocks = at::cuda::ATenCeilDiv(n_boxes, threadsPerBlock);
+    dev_mask[cur_box_idx * col_blocks + col_start] = t;
+  }
+}
+
+namespace detectron2 {
+
+at::Tensor nms_rotated_cuda(
+    // input must be contiguous
+    const at::Tensor& dets,
+    const at::Tensor& scores,
+    double iou_threshold) {
+  // using scalar_t = float;
+  AT_ASSERTM(dets.is_cuda(), "dets must be a CUDA tensor");
+  AT_ASSERTM(scores.is_cuda(), "scores must be a CUDA tensor");
+  at::cuda::CUDAGuard device_guard(dets.device());
+
+  auto order_t = std::get<1>(scores.sort(0, /* descending=*/true));
+  auto dets_sorted = dets.index_select(0, order_t);
+
+  auto dets_num = dets.size(0);
+
+  const int col_blocks =
+      at::cuda::ATenCeilDiv(static_cast<int>(dets_num), threadsPerBlock);
+
+  at::Tensor mask =
+      at::empty({dets_num * col_blocks}, dets.options().dtype(at::kLong));
+
+  dim3 blocks(col_blocks, col_blocks);
+  dim3 threads(threadsPerBlock);
+  cudaStream_t stream = at::cuda::getCurrentCUDAStream();
+
+  AT_DISPATCH_FLOATING_TYPES(
+      dets_sorted.scalar_type(), "nms_rotated_kernel_cuda", [&] {
+        nms_rotated_cuda_kernel<scalar_t><<<blocks, threads, 0, stream>>>(
+            dets_num,
+            iou_threshold,
+            dets_sorted.data_ptr<scalar_t>(),
+            (unsigned long long*)mask.data_ptr<int64_t>());
+      });
+
+  at::Tensor mask_cpu = mask.to(at::kCPU);
+  unsigned long long* mask_host =
+      (unsigned long long*)mask_cpu.data_ptr<int64_t>();
+
+  std::vector<unsigned long long> remv(col_blocks);
+  memset(&remv[0], 0, sizeof(unsigned long long) * col_blocks);
+
+  at::Tensor keep =
+      at::empty({dets_num}, dets.options().dtype(at::kLong).device(at::kCPU));
+  int64_t* keep_out = keep.data_ptr<int64_t>();
+
+  int num_to_keep = 0;
+  for (int i = 0; i < dets_num; i++) {
+    int nblock = i / threadsPerBlock;
+    int inblock = i % threadsPerBlock;
+
+    if (!(remv[nblock] & (1ULL << inblock))) {
+      keep_out[num_to_keep++] = i;
+      unsigned long long* p = mask_host + i * col_blocks;
+      for (int j = nblock; j < col_blocks; j++) {
+        remv[j] |= p[j];
+      }
+    }
+  }
+
+  AT_CUDA_CHECK(cudaGetLastError());
+  return order_t.index(
+      {keep.narrow(/*dim=*/0, /*start=*/0, /*length=*/num_to_keep)
+           .to(order_t.device(), keep.scalar_type())});
+}
+
+} // namespace detectron2

data_generation/grit/third_party/CenterNet2/detectron2/layers/csrc/vision.cpp

+// Copyright (c) Facebook, Inc. and its affiliates.
+
+#include <torch/extension.h>
+#include "ROIAlignRotated/ROIAlignRotated.h"
+#include "box_iou_rotated/box_iou_rotated.h"
+#include "cocoeval/cocoeval.h"
+#include "deformable/deform_conv.h"
+#include "nms_rotated/nms_rotated.h"
+
+namespace detectron2 {
+
+#if defined(WITH_CUDA) || defined(WITH_HIP)
+extern int get_cudart_version();
+#endif
+
+std::string get_cuda_version() {
+#if defined(WITH_CUDA) || defined(WITH_HIP)
+  std::ostringstream oss;
+
+#if defined(WITH_CUDA)
+  oss << "CUDA ";
+#else
+  oss << "HIP ";
+#endif
+
+  // copied from
+  // https://github.com/pytorch/pytorch/blob/master/aten/src/ATen/cuda/detail/CUDAHooks.cpp#L231
+  auto printCudaStyleVersion = [&](int v) {
+    oss << (v / 1000) << "." << (v / 10 % 100);
+    if (v % 10 != 0) {
+      oss << "." << (v % 10);
+    }
+  };
+  printCudaStyleVersion(get_cudart_version());
+  return oss.str();
+#else // neither CUDA nor HIP
+  return std::string("not available");
+#endif
+}
+
+bool has_cuda() {
+#if defined(WITH_CUDA)
+  return true;
+#else
+  return false;
+#endif
+}
+
+// similar to
+// https://github.com/pytorch/pytorch/blob/master/aten/src/ATen/Version.cpp
+std::string get_compiler_version() {
+  std::ostringstream ss;
+#if defined(__GNUC__)
+#ifndef __clang__
+
+#if ((__GNUC__ <= 4) && (__GNUC_MINOR__ <= 8))
+#error "GCC >= 4.9 is required!"
+#endif
+
+  { ss << "GCC " << __GNUC__ << "." << __GNUC_MINOR__; }
+#endif
+#endif
+
+#if defined(__clang_major__)
+  {
+    ss << "clang " << __clang_major__ << "." << __clang_minor__ << "."
+       << __clang_patchlevel__;
+  }
+#endif
+
+#if defined(_MSC_VER)
+  { ss << "MSVC " << _MSC_FULL_VER; }
+#endif
+  return ss.str();
+}
+
+PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {
+  m.def("get_compiler_version", &get_compiler_version, "get_compiler_version");
+  m.def("get_cuda_version", &get_cuda_version, "get_cuda_version");
+  m.def("has_cuda", &has_cuda, "has_cuda");
+
+  m.def("deform_conv_forward", &deform_conv_forward, "deform_conv_forward");
+  m.def(
+      "deform_conv_backward_input",
+      &deform_conv_backward_input,
+      "deform_conv_backward_input");
+  m.def(
+      "deform_conv_backward_filter",
+      &deform_conv_backward_filter,
+      "deform_conv_backward_filter");
+  m.def(
+      "modulated_deform_conv_forward",
+      &modulated_deform_conv_forward,
+      "modulated_deform_conv_forward");
+  m.def(
+      "modulated_deform_conv_backward",
+      &modulated_deform_conv_backward,
+      "modulated_deform_conv_backward");
+
+  m.def("COCOevalAccumulate", &COCOeval::Accumulate, "COCOeval::Accumulate");
+  m.def(
+      "COCOevalEvaluateImages",
+      &COCOeval::EvaluateImages,
+      "COCOeval::EvaluateImages");
+  pybind11::class_<COCOeval::InstanceAnnotation>(m, "InstanceAnnotation")
+      .def(pybind11::init<uint64_t, double, double, bool, bool>());
+  pybind11::class_<COCOeval::ImageEvaluation>(m, "ImageEvaluation")
+      .def(pybind11::init<>());
+}
+
+TORCH_LIBRARY(detectron2, m) {
+  m.def("nms_rotated", &nms_rotated);
+  m.def("box_iou_rotated", &box_iou_rotated);
+  m.def("roi_align_rotated_forward", &ROIAlignRotated_forward);
+  m.def("roi_align_rotated_backward", &ROIAlignRotated_backward);
+}
+} // namespace detectron2

data_generation/grit/third_party/CenterNet2/detectron2/layers/deform_conv.py

+# Copyright (c) Facebook, Inc. and its affiliates.
+import math
+from functools import lru_cache
+import torch
+from torch import nn
+from torch.autograd import Function
+from torch.autograd.function import once_differentiable
+from torch.nn.modules.utils import _pair
+from torchvision.ops import deform_conv2d
+
+from detectron2 import _C
+
+from .wrappers import _NewEmptyTensorOp
+
+
+class _DeformConv(Function):
+    @staticmethod
+    def forward(
+        ctx,
+        input,
+        offset,
+        weight,
+        stride=1,
+        padding=0,
+        dilation=1,
+        groups=1,
+        deformable_groups=1,
+        im2col_step=64,
+    ):
+        if input is not None and input.dim() != 4:
+            raise ValueError(
+                "Expected 4D tensor as input, got {}D tensor instead.".format(input.dim())
+            )
+        ctx.stride = _pair(stride)
+        ctx.padding = _pair(padding)
+        ctx.dilation = _pair(dilation)
+        ctx.groups = groups
+        ctx.deformable_groups = deformable_groups
+        ctx.im2col_step = im2col_step
+
+        ctx.save_for_backward(input, offset, weight)
+
+        output = input.new_empty(
+            _DeformConv._output_size(input, weight, ctx.padding, ctx.dilation, ctx.stride)
+        )
+
+        ctx.bufs_ = [input.new_empty(0), input.new_empty(0)]  # columns, ones
+
+        if not input.is_cuda:
+            if deformable_groups != 1:
+                raise NotImplementedError(
+                    "Deformable Conv with deformable_groups != 1 is not supported on CPUs!"
+                )
+            return deform_conv2d(
+                input, offset, weight, stride=stride, padding=padding, dilation=dilation
+            )
+        else:
+            cur_im2col_step = _DeformConv._cal_im2col_step(input.shape[0], ctx.im2col_step)
+            assert (input.shape[0] % cur_im2col_step) == 0, "im2col step must divide batchsize"
+
+            _C.deform_conv_forward(
+                input,
+                weight,
+                offset,
+                output,
+                ctx.bufs_[0],
+                ctx.bufs_[1],
+                weight.size(3),
+                weight.size(2),
+                ctx.stride[1],
+                ctx.stride[0],
+                ctx.padding[1],
+                ctx.padding[0],
+                ctx.dilation[1],
+                ctx.dilation[0],
+                ctx.groups,
+                ctx.deformable_groups,
+                cur_im2col_step,
+            )
+        return output
+
+    @staticmethod
+    @once_differentiable
+    def backward(ctx, grad_output):
+        input, offset, weight = ctx.saved_tensors
+
+        grad_input = grad_offset = grad_weight = None
+
+        if not grad_output.is_cuda:
+            raise NotImplementedError("Deformable Conv is not supported on CPUs!")
+        else:
+            cur_im2col_step = _DeformConv._cal_im2col_step(input.shape[0], ctx.im2col_step)
+            assert (input.shape[0] % cur_im2col_step) == 0, "im2col step must divide batchsize"
+
+            if ctx.needs_input_grad[0] or ctx.needs_input_grad[1]:
+                grad_input = torch.zeros_like(input)
+                grad_offset = torch.zeros_like(offset)
+                _C.deform_conv_backward_input(
+                    input,
+                    offset,
+                    grad_output,
+                    grad_input,
+                    grad_offset,
+                    weight,
+                    ctx.bufs_[0],
+                    weight.size(3),
+                    weight.size(2),
+                    ctx.stride[1],
+                    ctx.stride[0],
+                    ctx.padding[1],
+                    ctx.padding[0],
+                    ctx.dilation[1],
+                    ctx.dilation[0],
+                    ctx.groups,
+                    ctx.deformable_groups,
+                    cur_im2col_step,
+                )
+
+            if ctx.needs_input_grad[2]:
+                grad_weight = torch.zeros_like(weight)
+                _C.deform_conv_backward_filter(
+                    input,
+                    offset,
+                    grad_output,
+                    grad_weight,
+                    ctx.bufs_[0],
+                    ctx.bufs_[1],
+                    weight.size(3),
+                    weight.size(2),
+                    ctx.stride[1],
+                    ctx.stride[0],
+                    ctx.padding[1],
+                    ctx.padding[0],
+                    ctx.dilation[1],
+                    ctx.dilation[0],
+                    ctx.groups,
+                    ctx.deformable_groups,
+                    1,
+                    cur_im2col_step,
+                )
+
+        return grad_input, grad_offset, grad_weight, None, None, None, None, None, None
+
+    @staticmethod
+    def _output_size(input, weight, padding, dilation, stride):
+        channels = weight.size(0)
+        output_size = (input.size(0), channels)
+        for d in range(input.dim() - 2):
+            in_size = input.size(d + 2)
+            pad = padding[d]
+            kernel = dilation[d] * (weight.size(d + 2) - 1) + 1
+            stride_ = stride[d]
+            output_size += ((in_size + (2 * pad) - kernel) // stride_ + 1,)
+        if not all(map(lambda s: s > 0, output_size)):
+            raise ValueError(
+                "convolution input is too small (output would be {})".format(
+                    "x".join(map(str, output_size))
+                )
+            )
+        return output_size
+
+    @staticmethod
+    @lru_cache(maxsize=128)
+    def _cal_im2col_step(input_size, default_size):
+        """
+        Calculate proper im2col step size, which should be divisible by input_size and not larger
+        than prefer_size. Meanwhile the step size should be as large as possible to be more
+        efficient. So we choose the largest one among all divisors of input_size which are smaller
+        than prefer_size.
+        :param input_size: input batch size .
+        :param default_size: default preferred im2col step size.
+        :return: the largest proper step size.
+        """
+        if input_size <= default_size:
+            return input_size
+        best_step = 1
+        for step in range(2, min(int(math.sqrt(input_size)) + 1, default_size)):
+            if input_size % step == 0:
+                if input_size // step <= default_size:
+                    return input_size // step
+                best_step = step
+
+        return best_step
+
+
+class _ModulatedDeformConv(Function):
+    @staticmethod
+    def forward(
+        ctx,
+        input,
+        offset,
+        mask,
+        weight,
+        bias=None,
+        stride=1,
+        padding=0,
+        dilation=1,
+        groups=1,
+        deformable_groups=1,
+    ):
+        ctx.stride = stride
+        ctx.padding = padding
+        ctx.dilation = dilation
+        ctx.groups = groups
+        ctx.deformable_groups = deformable_groups
+        ctx.with_bias = bias is not None
+        if not ctx.with_bias:
+            bias = input.new_empty(1)  # fake tensor
+        if not input.is_cuda:
+            raise NotImplementedError("Deformable Conv is not supported on CPUs!")
+        if (
+            weight.requires_grad
+            or mask.requires_grad
+            or offset.requires_grad
+            or input.requires_grad
+        ):
+            ctx.save_for_backward(input, offset, mask, weight, bias)
+        output = input.new_empty(_ModulatedDeformConv._infer_shape(ctx, input, weight))
+        ctx._bufs = [input.new_empty(0), input.new_empty(0)]
+        _C.modulated_deform_conv_forward(
+            input,
+            weight,
+            bias,
+            ctx._bufs[0],
+            offset,
+            mask,
+            output,
+            ctx._bufs[1],
+            weight.shape[2],
+            weight.shape[3],
+            ctx.stride,
+            ctx.stride,
+            ctx.padding,
+            ctx.padding,
+            ctx.dilation,
+            ctx.dilation,
+            ctx.groups,
+            ctx.deformable_groups,
+            ctx.with_bias,
+        )
+        return output
+
+    @staticmethod
+    @once_differentiable
+    def backward(ctx, grad_output):
+        if not grad_output.is_cuda:
+            raise NotImplementedError("Deformable Conv is not supported on CPUs!")
+        input, offset, mask, weight, bias = ctx.saved_tensors
+        grad_input = torch.zeros_like(input)
+        grad_offset = torch.zeros_like(offset)
+        grad_mask = torch.zeros_like(mask)
+        grad_weight = torch.zeros_like(weight)
+        grad_bias = torch.zeros_like(bias)
+        _C.modulated_deform_conv_backward(
+            input,
+            weight,
+            bias,
+            ctx._bufs[0],
+            offset,
+            mask,
+            ctx._bufs[1],
+            grad_input,
+            grad_weight,
+            grad_bias,
+            grad_offset,
+            grad_mask,
+            grad_output,
+            weight.shape[2],
+            weight.shape[3],
+            ctx.stride,
+            ctx.stride,
+            ctx.padding,
+            ctx.padding,
+            ctx.dilation,
+            ctx.dilation,
+            ctx.groups,
+            ctx.deformable_groups,
+            ctx.with_bias,
+        )
+        if not ctx.with_bias:
+            grad_bias = None
+
+        return (
+            grad_input,
+            grad_offset,
+            grad_mask,
+            grad_weight,
+            grad_bias,
+            None,
+            None,
+            None,
+            None,
+            None,
+        )
+
+    @staticmethod
+    def _infer_shape(ctx, input, weight):
+        n = input.size(0)
+        channels_out = weight.size(0)
+        height, width = input.shape[2:4]
+        kernel_h, kernel_w = weight.shape[2:4]
+        height_out = (
+            height + 2 * ctx.padding - (ctx.dilation * (kernel_h - 1) + 1)
+        ) // ctx.stride + 1
+        width_out = (
+            width + 2 * ctx.padding - (ctx.dilation * (kernel_w - 1) + 1)
+        ) // ctx.stride + 1
+        return n, channels_out, height_out, width_out
+
+
+deform_conv = _DeformConv.apply
+modulated_deform_conv = _ModulatedDeformConv.apply
+
+
+class DeformConv(nn.Module):
+    def __init__(
+        self,
+        in_channels,
+        out_channels,
+        kernel_size,
+        stride=1,
+        padding=0,
+        dilation=1,
+        groups=1,
+        deformable_groups=1,
+        bias=False,
+        norm=None,
+        activation=None,
+    ):
+        """
+        Deformable convolution from :paper:`deformconv`.
+
+        Arguments are similar to :class:`Conv2D`. Extra arguments:
+
+        Args:
+            deformable_groups (int): number of groups used in deformable convolution.
+            norm (nn.Module, optional): a normalization layer
+            activation (callable(Tensor) -> Tensor): a callable activation function
+        """
+        super(DeformConv, self).__init__()
+
+        assert not bias
+        assert in_channels % groups == 0, "in_channels {} cannot be divisible by groups {}".format(
+            in_channels, groups
+        )
+        assert (
+            out_channels % groups == 0
+        ), "out_channels {} cannot be divisible by groups {}".format(out_channels, groups)
+
+        self.in_channels = in_channels
+        self.out_channels = out_channels
+        self.kernel_size = _pair(kernel_size)
+        self.stride = _pair(stride)
+        self.padding = _pair(padding)
+        self.dilation = _pair(dilation)
+        self.groups = groups
+        self.deformable_groups = deformable_groups
+        self.norm = norm
+        self.activation = activation
+
+        self.weight = nn.Parameter(
+            torch.Tensor(out_channels, in_channels // self.groups, *self.kernel_size)
+        )
+        self.bias = None
+
+        nn.init.kaiming_uniform_(self.weight, nonlinearity="relu")
+
+    def forward(self, x, offset):
+        if x.numel() == 0:
+            # When input is empty, we want to return a empty tensor with "correct" shape,
+            # So that the following operations will not panic
+            # if they check for the shape of the tensor.
+            # This computes the height and width of the output tensor
+            output_shape = [
+                (i + 2 * p - (di * (k - 1) + 1)) // s + 1
+                for i, p, di, k, s in zip(
+                    x.shape[-2:], self.padding, self.dilation, self.kernel_size, self.stride
+                )
+            ]
+            output_shape = [x.shape[0], self.weight.shape[0]] + output_shape
+            return _NewEmptyTensorOp.apply(x, output_shape)
+
+        x = deform_conv(
+            x,
+            offset,
+            self.weight,
+            self.stride,
+            self.padding,
+            self.dilation,
+            self.groups,
+            self.deformable_groups,
+        )
+        if self.norm is not None:
+            x = self.norm(x)
+        if self.activation is not None:
+            x = self.activation(x)
+        return x
+
+    def extra_repr(self):
+        tmpstr = "in_channels=" + str(self.in_channels)
+        tmpstr += ", out_channels=" + str(self.out_channels)
+        tmpstr += ", kernel_size=" + str(self.kernel_size)
+        tmpstr += ", stride=" + str(self.stride)
+        tmpstr += ", padding=" + str(self.padding)
+        tmpstr += ", dilation=" + str(self.dilation)
+        tmpstr += ", groups=" + str(self.groups)
+        tmpstr += ", deformable_groups=" + str(self.deformable_groups)
+        tmpstr += ", bias=False"
+        return tmpstr
+
+
+class ModulatedDeformConv(nn.Module):
+    def __init__(
+        self,
+        in_channels,
+        out_channels,
+        kernel_size,
+        stride=1,
+        padding=0,
+        dilation=1,
+        groups=1,
+        deformable_groups=1,
+        bias=True,
+        norm=None,
+        activation=None,
+    ):
+        """
+        Modulated deformable convolution from :paper:`deformconv2`.
+
+        Arguments are similar to :class:`Conv2D`. Extra arguments:
+
+        Args:
+            deformable_groups (int): number of groups used in deformable convolution.
+            norm (nn.Module, optional): a normalization layer
+            activation (callable(Tensor) -> Tensor): a callable activation function
+        """
+        super(ModulatedDeformConv, self).__init__()
+        self.in_channels = in_channels
+        self.out_channels = out_channels
+        self.kernel_size = _pair(kernel_size)
+        self.stride = stride
+        self.padding = padding
+        self.dilation = dilation
+        self.groups = groups
+        self.deformable_groups = deformable_groups
+        self.with_bias = bias
+        self.norm = norm
+        self.activation = activation
+
+        self.weight = nn.Parameter(
+            torch.Tensor(out_channels, in_channels // groups, *self.kernel_size)
+        )
+        if bias:
+            self.bias = nn.Parameter(torch.Tensor(out_channels))
+        else:
+            self.bias = None
+
+        nn.init.kaiming_uniform_(self.weight, nonlinearity="relu")
+        if self.bias is not None:
+            nn.init.constant_(self.bias, 0)
+
+    def forward(self, x, offset, mask):
+        if x.numel() == 0:
+            output_shape = [
+                (i + 2 * p - (di * (k - 1) + 1)) // s + 1
+                for i, p, di, k, s in zip(
+                    x.shape[-2:], self.padding, self.dilation, self.kernel_size, self.stride
+                )
+            ]
+            output_shape = [x.shape[0], self.weight.shape[0]] + output_shape
+            return _NewEmptyTensorOp.apply(x, output_shape)
+
+        x = modulated_deform_conv(
+            x,
+            offset,
+            mask,
+            self.weight,
+            self.bias,
+            self.stride,
+            self.padding,
+            self.dilation,
+            self.groups,
+            self.deformable_groups,
+        )
+        if self.norm is not None:
+            x = self.norm(x)
+        if self.activation is not None:
+            x = self.activation(x)
+        return x
+
+    def extra_repr(self):
+        tmpstr = "in_channels=" + str(self.in_channels)
+        tmpstr += ", out_channels=" + str(self.out_channels)
+        tmpstr += ", kernel_size=" + str(self.kernel_size)
+        tmpstr += ", stride=" + str(self.stride)
+        tmpstr += ", padding=" + str(self.padding)
+        tmpstr += ", dilation=" + str(self.dilation)
+        tmpstr += ", groups=" + str(self.groups)
+        tmpstr += ", deformable_groups=" + str(self.deformable_groups)
+        tmpstr += ", bias=" + str(self.with_bias)
+        return tmpstr

data_generation/grit/third_party/CenterNet2/detectron2/layers/losses.py

+import math
+import torch
+
+
+def diou_loss(
+    boxes1: torch.Tensor,
+    boxes2: torch.Tensor,
+    reduction: str = "none",
+    eps: float = 1e-7,
+) -> torch.Tensor:
+    """
+    Distance Intersection over Union Loss (Zhaohui Zheng et. al)
+    https://arxiv.org/abs/1911.08287
+    Args:
+        boxes1, boxes2 (Tensor): box locations in XYXY format, shape (N, 4) or (4,).
+        reduction: 'none' | 'mean' | 'sum'
+                 'none': No reduction will be applied to the output.
+                 'mean': The output will be averaged.
+                 'sum': The output will be summed.
+        eps (float): small number to prevent division by zero
+    """
+
+    x1, y1, x2, y2 = boxes1.unbind(dim=-1)
+    x1g, y1g, x2g, y2g = boxes2.unbind(dim=-1)
+
+    # TODO: use torch._assert_async() when pytorch 1.8 support is dropped
+    assert (x2 >= x1).all(), "bad box: x1 larger than x2"
+    assert (y2 >= y1).all(), "bad box: y1 larger than y2"
+
+    # Intersection keypoints
+    xkis1 = torch.max(x1, x1g)
+    ykis1 = torch.max(y1, y1g)
+    xkis2 = torch.min(x2, x2g)
+    ykis2 = torch.min(y2, y2g)
+
+    intsct = torch.zeros_like(x1)
+    mask = (ykis2 > ykis1) & (xkis2 > xkis1)
+    intsct[mask] = (xkis2[mask] - xkis1[mask]) * (ykis2[mask] - ykis1[mask])
+    union = (x2 - x1) * (y2 - y1) + (x2g - x1g) * (y2g - y1g) - intsct + eps
+    iou = intsct / union
+
+    # smallest enclosing box
+    xc1 = torch.min(x1, x1g)
+    yc1 = torch.min(y1, y1g)
+    xc2 = torch.max(x2, x2g)
+    yc2 = torch.max(y2, y2g)
+    diag_len = ((xc2 - xc1) ** 2) + ((yc2 - yc1) ** 2) + eps
+
+    # centers of boxes
+    x_p = (x2 + x1) / 2
+    y_p = (y2 + y1) / 2
+    x_g = (x1g + x2g) / 2
+    y_g = (y1g + y2g) / 2
+    distance = ((x_p - x_g) ** 2) + ((y_p - y_g) ** 2)
+
+    # Eqn. (7)
+    loss = 1 - iou + (distance / diag_len)
+    if reduction == "mean":
+        loss = loss.mean() if loss.numel() > 0 else 0.0 * loss.sum()
+    elif reduction == "sum":
+        loss = loss.sum()
+
+    return loss
+
+
+def ciou_loss(
+    boxes1: torch.Tensor,
+    boxes2: torch.Tensor,
+    reduction: str = "none",
+    eps: float = 1e-7,
+) -> torch.Tensor:
+    """
+    Complete Intersection over Union Loss (Zhaohui Zheng et. al)
+    https://arxiv.org/abs/1911.08287
+    Args:
+        boxes1, boxes2 (Tensor): box locations in XYXY format, shape (N, 4) or (4,).
+        reduction: 'none' | 'mean' | 'sum'
+                 'none': No reduction will be applied to the output.
+                 'mean': The output will be averaged.
+                 'sum': The output will be summed.
+        eps (float): small number to prevent division by zero
+    """
+
+    x1, y1, x2, y2 = boxes1.unbind(dim=-1)
+    x1g, y1g, x2g, y2g = boxes2.unbind(dim=-1)
+
+    # TODO: use torch._assert_async() when pytorch 1.8 support is dropped
+    assert (x2 >= x1).all(), "bad box: x1 larger than x2"
+    assert (y2 >= y1).all(), "bad box: y1 larger than y2"
+
+    # Intersection keypoints
+    xkis1 = torch.max(x1, x1g)
+    ykis1 = torch.max(y1, y1g)
+    xkis2 = torch.min(x2, x2g)
+    ykis2 = torch.min(y2, y2g)
+
+    intsct = torch.zeros_like(x1)
+    mask = (ykis2 > ykis1) & (xkis2 > xkis1)
+    intsct[mask] = (xkis2[mask] - xkis1[mask]) * (ykis2[mask] - ykis1[mask])
+    union = (x2 - x1) * (y2 - y1) + (x2g - x1g) * (y2g - y1g) - intsct + eps
+    iou = intsct / union
+
+    # smallest enclosing box
+    xc1 = torch.min(x1, x1g)
+    yc1 = torch.min(y1, y1g)
+    xc2 = torch.max(x2, x2g)
+    yc2 = torch.max(y2, y2g)
+    diag_len = ((xc2 - xc1) ** 2) + ((yc2 - yc1) ** 2) + eps
+
+    # centers of boxes
+    x_p = (x2 + x1) / 2
+    y_p = (y2 + y1) / 2
+    x_g = (x1g + x2g) / 2
+    y_g = (y1g + y2g) / 2
+    distance = ((x_p - x_g) ** 2) + ((y_p - y_g) ** 2)
+
+    # width and height of boxes
+    w_pred = x2 - x1
+    h_pred = y2 - y1
+    w_gt = x2g - x1g
+    h_gt = y2g - y1g
+    v = (4 / (math.pi ** 2)) * torch.pow((torch.atan(w_gt / h_gt) - torch.atan(w_pred / h_pred)), 2)
+    with torch.no_grad():
+        alpha = v / (1 - iou + v + eps)
+
+    # Eqn. (10)
+    loss = 1 - iou + (distance / diag_len) + alpha * v
+    if reduction == "mean":
+        loss = loss.mean() if loss.numel() > 0 else 0.0 * loss.sum()
+    elif reduction == "sum":
+        loss = loss.sum()
+
+    return loss

data_generation/grit/third_party/CenterNet2/detectron2/layers/mask_ops.py

+# Copyright (c) Facebook, Inc. and its affiliates.
+import numpy as np
+from typing import Tuple
+import torch
+from PIL import Image
+from torch.nn import functional as F
+
+__all__ = ["paste_masks_in_image"]
+
+
+BYTES_PER_FLOAT = 4
+# TODO: This memory limit may be too much or too little. It would be better to
+# determine it based on available resources.
+GPU_MEM_LIMIT = 1024 ** 3  # 1 GB memory limit
+
+
+def _do_paste_mask(masks, boxes, img_h: int, img_w: int, skip_empty: bool = True):
+    """
+    Args:
+        masks: N, 1, H, W
+        boxes: N, 4
+        img_h, img_w (int):
+        skip_empty (bool): only paste masks within the region that
+            tightly bound all boxes, and returns the results this region only.
+            An important optimization for CPU.
+
+    Returns:
+        if skip_empty == False, a mask of shape (N, img_h, img_w)
+        if skip_empty == True, a mask of shape (N, h', w'), and the slice
+            object for the corresponding region.
+    """
+    # On GPU, paste all masks together (up to chunk size)
+    # by using the entire image to sample the masks
+    # Compared to pasting them one by one,
+    # this has more operations but is faster on COCO-scale dataset.
+    device = masks.device
+
+    if skip_empty and not torch.jit.is_scripting():
+        x0_int, y0_int = torch.clamp(boxes.min(dim=0).values.floor()[:2] - 1, min=0).to(
+            dtype=torch.int32
+        )
+        x1_int = torch.clamp(boxes[:, 2].max().ceil() + 1, max=img_w).to(dtype=torch.int32)
+        y1_int = torch.clamp(boxes[:, 3].max().ceil() + 1, max=img_h).to(dtype=torch.int32)
+    else:
+        x0_int, y0_int = 0, 0
+        x1_int, y1_int = img_w, img_h
+    x0, y0, x1, y1 = torch.split(boxes, 1, dim=1)  # each is Nx1
+
+    N = masks.shape[0]
+
+    img_y = torch.arange(y0_int, y1_int, device=device, dtype=torch.float32) + 0.5
+    img_x = torch.arange(x0_int, x1_int, device=device, dtype=torch.float32) + 0.5
+    img_y = (img_y - y0) / (y1 - y0) * 2 - 1
+    img_x = (img_x - x0) / (x1 - x0) * 2 - 1
+    # img_x, img_y have shapes (N, w), (N, h)
+
+    gx = img_x[:, None, :].expand(N, img_y.size(1), img_x.size(1))
+    gy = img_y[:, :, None].expand(N, img_y.size(1), img_x.size(1))
+    grid = torch.stack([gx, gy], dim=3)
+
+    if not torch.jit.is_scripting():
+        if not masks.dtype.is_floating_point:
+            masks = masks.float()
+    img_masks = F.grid_sample(masks, grid.to(masks.dtype), align_corners=False)
+
+    if skip_empty and not torch.jit.is_scripting():
+        return img_masks[:, 0], (slice(y0_int, y1_int), slice(x0_int, x1_int))
+    else:
+        return img_masks[:, 0], ()
+
+
+# Annotate boxes as Tensor (but not Boxes) in order to use scripting
+@torch.jit.script_if_tracing
+def paste_masks_in_image(
+    masks: torch.Tensor, boxes: torch.Tensor, image_shape: Tuple[int, int], threshold: float = 0.5
+):
+    """
+    Paste a set of masks that are of a fixed resolution (e.g., 28 x 28) into an image.
+    The location, height, and width for pasting each mask is determined by their
+    corresponding bounding boxes in boxes.
+
+    Note:
+        This is a complicated but more accurate implementation. In actual deployment, it is
+        often enough to use a faster but less accurate implementation.
+        See :func:`paste_mask_in_image_old` in this file for an alternative implementation.
+
+    Args:
+        masks (tensor): Tensor of shape (Bimg, Hmask, Wmask), where Bimg is the number of
+            detected object instances in the image and Hmask, Wmask are the mask width and mask
+            height of the predicted mask (e.g., Hmask = Wmask = 28). Values are in [0, 1].
+        boxes (Boxes or Tensor): A Boxes of length Bimg or Tensor of shape (Bimg, 4).
+            boxes[i] and masks[i] correspond to the same object instance.
+        image_shape (tuple): height, width
+        threshold (float): A threshold in [0, 1] for converting the (soft) masks to
+            binary masks.
+
+    Returns:
+        img_masks (Tensor): A tensor of shape (Bimg, Himage, Wimage), where Bimg is the
+        number of detected object instances and Himage, Wimage are the image width
+        and height. img_masks[i] is a binary mask for object instance i.
+    """
+
+    assert masks.shape[-1] == masks.shape[-2], "Only square mask predictions are supported"
+    N = len(masks)
+    if N == 0:
+        return masks.new_empty((0,) + image_shape, dtype=torch.uint8)
+    if not isinstance(boxes, torch.Tensor):
+        boxes = boxes.tensor
+    device = boxes.device
+    assert len(boxes) == N, boxes.shape
+
+    img_h, img_w = image_shape
+
+    # The actual implementation split the input into chunks,
+    # and paste them chunk by chunk.
+    if device.type == "cpu" or torch.jit.is_scripting():
+        # CPU is most efficient when they are pasted one by one with skip_empty=True
+        # so that it performs minimal number of operations.
+        num_chunks = N
+    else:
+        # GPU benefits from parallelism for larger chunks, but may have memory issue
+        # int(img_h) because shape may be tensors in tracing
+        num_chunks = int(np.ceil(N * int(img_h) * int(img_w) * BYTES_PER_FLOAT / GPU_MEM_LIMIT))
+        assert (
+            num_chunks <= N
+        ), "Default GPU_MEM_LIMIT in mask_ops.py is too small; try increasing it"
+    chunks = torch.chunk(torch.arange(N, device=device), num_chunks)
+
+    img_masks = torch.zeros(
+        N, img_h, img_w, device=device, dtype=torch.bool if threshold >= 0 else torch.uint8
+    )
+    for inds in chunks:
+        masks_chunk, spatial_inds = _do_paste_mask(
+            masks[inds, None, :, :], boxes[inds], img_h, img_w, skip_empty=device.type == "cpu"
+        )
+
+        if threshold >= 0:
+            masks_chunk = (masks_chunk >= threshold).to(dtype=torch.bool)
+        else:
+            # for visualization and debugging
+            masks_chunk = (masks_chunk * 255).to(dtype=torch.uint8)
+
+        if torch.jit.is_scripting():  # Scripting does not use the optimized codepath
+            img_masks[inds] = masks_chunk
+        else:
+            img_masks[(inds,) + spatial_inds] = masks_chunk
+    return img_masks
+
+
+# The below are the original paste function (from Detectron1) which has
+# larger quantization error.
+# It is faster on CPU, while the aligned one is faster on GPU thanks to grid_sample.
+
+
+def paste_mask_in_image_old(mask, box, img_h, img_w, threshold):
+    """
+    Paste a single mask in an image.
+    This is a per-box implementation of :func:`paste_masks_in_image`.
+    This function has larger quantization error due to incorrect pixel
+    modeling and is not used any more.
+
+    Args:
+        mask (Tensor): A tensor of shape (Hmask, Wmask) storing the mask of a single
+            object instance. Values are in [0, 1].
+        box (Tensor): A tensor of shape (4, ) storing the x0, y0, x1, y1 box corners
+            of the object instance.
+        img_h, img_w (int): Image height and width.
+        threshold (float): Mask binarization threshold in [0, 1].
+
+    Returns:
+        im_mask (Tensor):
+            The resized and binarized object mask pasted into the original
+            image plane (a tensor of shape (img_h, img_w)).
+    """
+    # Conversion from continuous box coordinates to discrete pixel coordinates
+    # via truncation (cast to int32). This determines which pixels to paste the
+    # mask onto.
+    box = box.to(dtype=torch.int32)  # Continuous to discrete coordinate conversion
+    # An example (1D) box with continuous coordinates (x0=0.7, x1=4.3) will map to
+    # a discrete coordinates (x0=0, x1=4). Note that box is mapped to 5 = x1 - x0 + 1
+    # pixels (not x1 - x0 pixels).
+    samples_w = box[2] - box[0] + 1  # Number of pixel samples, *not* geometric width
+    samples_h = box[3] - box[1] + 1  # Number of pixel samples, *not* geometric height
+
+    # Resample the mask from it's original grid to the new samples_w x samples_h grid
+    mask = Image.fromarray(mask.cpu().numpy())
+    mask = mask.resize((samples_w, samples_h), resample=Image.BILINEAR)
+    mask = np.array(mask, copy=False)
+
+    if threshold >= 0:
+        mask = np.array(mask > threshold, dtype=np.uint8)
+        mask = torch.from_numpy(mask)
+    else:
+        # for visualization and debugging, we also
+        # allow it to return an unmodified mask
+        mask = torch.from_numpy(mask * 255).to(torch.uint8)
+
+    im_mask = torch.zeros((img_h, img_w), dtype=torch.uint8)
+    x_0 = max(box[0], 0)
+    x_1 = min(box[2] + 1, img_w)
+    y_0 = max(box[1], 0)
+    y_1 = min(box[3] + 1, img_h)
+
+    im_mask[y_0:y_1, x_0:x_1] = mask[
+        (y_0 - box[1]) : (y_1 - box[1]), (x_0 - box[0]) : (x_1 - box[0])
+    ]
+    return im_mask
+
+
+# Our pixel modeling requires extrapolation for any continuous
+# coordinate < 0.5 or > length - 0.5. When sampling pixels on the masks,
+# we would like this extrapolation to be an interpolation between boundary values and zero,
+# instead of using absolute zero or boundary values.
+# Therefore `paste_mask_in_image_old` is often used with zero padding around the masks like this:
+# masks, scale = pad_masks(masks[:, 0, :, :], 1)
+# boxes = scale_boxes(boxes.tensor, scale)
+
+
+def pad_masks(masks, padding):
+    """
+    Args:
+        masks (tensor): A tensor of shape (B, M, M) representing B masks.
+        padding (int): Number of cells to pad on all sides.
+
+    Returns:
+        The padded masks and the scale factor of the padding size / original size.
+    """
+    B = masks.shape[0]
+    M = masks.shape[-1]
+    pad2 = 2 * padding
+    scale = float(M + pad2) / M
+    padded_masks = masks.new_zeros((B, M + pad2, M + pad2))
+    padded_masks[:, padding:-padding, padding:-padding] = masks
+    return padded_masks, scale
+
+
+def scale_boxes(boxes, scale):
+    """
+    Args:
+        boxes (tensor): A tensor of shape (B, 4) representing B boxes with 4
+            coords representing the corners x0, y0, x1, y1,
+        scale (float): The box scaling factor.
+
+    Returns:
+        Scaled boxes.
+    """
+    w_half = (boxes[:, 2] - boxes[:, 0]) * 0.5
+    h_half = (boxes[:, 3] - boxes[:, 1]) * 0.5
+    x_c = (boxes[:, 2] + boxes[:, 0]) * 0.5
+    y_c = (boxes[:, 3] + boxes[:, 1]) * 0.5
+
+    w_half *= scale
+    h_half *= scale
+
+    scaled_boxes = torch.zeros_like(boxes)
+    scaled_boxes[:, 0] = x_c - w_half
+    scaled_boxes[:, 2] = x_c + w_half
+    scaled_boxes[:, 1] = y_c - h_half
+    scaled_boxes[:, 3] = y_c + h_half
+    return scaled_boxes
+
+
+@torch.jit.script_if_tracing
+def _paste_masks_tensor_shape(
+    masks: torch.Tensor,
+    boxes: torch.Tensor,
+    image_shape: Tuple[torch.Tensor, torch.Tensor],
+    threshold: float = 0.5,
+):
+    """
+    A wrapper of paste_masks_in_image where image_shape is Tensor.
+    During tracing, shapes might be tensors instead of ints. The Tensor->int
+    conversion should be scripted rather than traced.
+    """
+    return paste_masks_in_image(masks, boxes, (int(image_shape[0]), int(image_shape[1])), threshold)

data_generation/grit/third_party/CenterNet2/detectron2/layers/nms.py

+# -*- coding: utf-8 -*-
+# Copyright (c) Facebook, Inc. and its affiliates.
+
+import torch
+from torchvision.ops import boxes as box_ops
+from torchvision.ops import nms  # noqa . for compatibility
+
+
+def batched_nms(
+    boxes: torch.Tensor, scores: torch.Tensor, idxs: torch.Tensor, iou_threshold: float
+):
+    """
+    Same as torchvision.ops.boxes.batched_nms, but with float().
+    """
+    assert boxes.shape[-1] == 4
+    # Note: Torchvision already has a strategy (https://github.com/pytorch/vision/issues/1311)
+    # to decide whether to use coordinate trick or for loop to implement batched_nms. So we
+    # just call it directly.
+    # Fp16 does not have enough range for batched NMS, so adding float().
+    return box_ops.batched_nms(boxes.float(), scores, idxs, iou_threshold)
+
+
+# Note: this function (nms_rotated) might be moved into
+# torchvision/ops/boxes.py in the future
+def nms_rotated(boxes, scores, iou_threshold):
+    """
+    Performs non-maximum suppression (NMS) on the rotated boxes according
+    to their intersection-over-union (IoU).
+
+    Rotated NMS iteratively removes lower scoring rotated boxes which have an
+    IoU greater than iou_threshold with another (higher scoring) rotated box.
+
+    Note that RotatedBox (5, 3, 4, 2, -90) covers exactly the same region as
+    RotatedBox (5, 3, 4, 2, 90) does, and their IoU will be 1. However, they
+    can be representing completely different objects in certain tasks, e.g., OCR.
+
+    As for the question of whether rotated-NMS should treat them as faraway boxes
+    even though their IOU is 1, it depends on the application and/or ground truth annotation.
+
+    As an extreme example, consider a single character v and the square box around it.
+
+    If the angle is 0 degree, the object (text) would be read as 'v';
+
+    If the angle is 90 degrees, the object (text) would become '>';
+
+    If the angle is 180 degrees, the object (text) would become '^';
+
+    If the angle is 270/-90 degrees, the object (text) would become '<'
+
+    All of these cases have IoU of 1 to each other, and rotated NMS that only
+    uses IoU as criterion would only keep one of them with the highest score -
+    which, practically, still makes sense in most cases because typically
+    only one of theses orientations is the correct one. Also, it does not matter
+    as much if the box is only used to classify the object (instead of transcribing
+    them with a sequential OCR recognition model) later.
+
+    On the other hand, when we use IoU to filter proposals that are close to the
+    ground truth during training, we should definitely take the angle into account if
+    we know the ground truth is labeled with the strictly correct orientation (as in,
+    upside-down words are annotated with -180 degrees even though they can be covered
+    with a 0/90/-90 degree box, etc.)
+
+    The way the original dataset is annotated also matters. For example, if the dataset
+    is a 4-point polygon dataset that does not enforce ordering of vertices/orientation,
+    we can estimate a minimum rotated bounding box to this polygon, but there's no way
+    we can tell the correct angle with 100% confidence (as shown above, there could be 4 different
+    rotated boxes, with angles differed by 90 degrees to each other, covering the exactly
+    same region). In that case we have to just use IoU to determine the box
+    proximity (as many detection benchmarks (even for text) do) unless there're other
+    assumptions we can make (like width is always larger than height, or the object is not
+    rotated by more than 90 degrees CCW/CW, etc.)
+
+    In summary, not considering angles in rotated NMS seems to be a good option for now,
+    but we should be aware of its implications.
+
+    Args:
+        boxes (Tensor[N, 5]): Rotated boxes to perform NMS on. They are expected to be in
+           (x_center, y_center, width, height, angle_degrees) format.
+        scores (Tensor[N]): Scores for each one of the rotated boxes
+        iou_threshold (float): Discards all overlapping rotated boxes with IoU < iou_threshold
+
+    Returns:
+        keep (Tensor): int64 tensor with the indices of the elements that have been kept
+        by Rotated NMS, sorted in decreasing order of scores
+    """
+    return torch.ops.detectron2.nms_rotated(boxes, scores, iou_threshold)
+
+
+# Note: this function (batched_nms_rotated) might be moved into
+# torchvision/ops/boxes.py in the future
+def batched_nms_rotated(boxes, scores, idxs, iou_threshold):
+    """
+    Performs non-maximum suppression in a batched fashion.
+
+    Each index value correspond to a category, and NMS
+    will not be applied between elements of different categories.
+
+    Args:
+        boxes (Tensor[N, 5]):
+           boxes where NMS will be performed. They
+           are expected to be in (x_ctr, y_ctr, width, height, angle_degrees) format
+        scores (Tensor[N]):
+           scores for each one of the boxes
+        idxs (Tensor[N]):
+           indices of the categories for each one of the boxes.
+        iou_threshold (float):
+           discards all overlapping boxes
+           with IoU < iou_threshold
+
+    Returns:
+        Tensor:
+            int64 tensor with the indices of the elements that have been kept
+            by NMS, sorted in decreasing order of scores
+    """
+    assert boxes.shape[-1] == 5
+
+    if boxes.numel() == 0:
+        return torch.empty((0,), dtype=torch.int64, device=boxes.device)
+    boxes = boxes.float()  # fp16 does not have enough range for batched NMS
+    # Strategy: in order to perform NMS independently per class,
+    # we add an offset to all the boxes. The offset is dependent
+    # only on the class idx, and is large enough so that boxes
+    # from different classes do not overlap
+
+    # Note that batched_nms in torchvision/ops/boxes.py only uses max_coordinate,
+    # which won't handle negative coordinates correctly.
+    # Here by using min_coordinate we can make sure the negative coordinates are
+    # correctly handled.
+    max_coordinate = (
+        torch.max(boxes[:, 0], boxes[:, 1]) + torch.max(boxes[:, 2], boxes[:, 3]) / 2
+    ).max()
+    min_coordinate = (
+        torch.min(boxes[:, 0], boxes[:, 1]) - torch.max(boxes[:, 2], boxes[:, 3]) / 2
+    ).min()
+    offsets = idxs.to(boxes) * (max_coordinate - min_coordinate + 1)
+    boxes_for_nms = boxes.clone()  # avoid modifying the original values in boxes
+    boxes_for_nms[:, :2] += offsets[:, None]
+    keep = nms_rotated(boxes_for_nms, scores, iou_threshold)
+    return keep

data_generation/grit/third_party/CenterNet2/detectron2/layers/roi_align.py

+# Copyright (c) Facebook, Inc. and its affiliates.
+from torch import nn
+from torchvision.ops import roi_align
+
+
+# NOTE: torchvision's RoIAlign has a different default aligned=False
+class ROIAlign(nn.Module):
+    def __init__(self, output_size, spatial_scale, sampling_ratio, aligned=True):
+        """
+        Args:
+            output_size (tuple): h, w
+            spatial_scale (float): scale the input boxes by this number
+            sampling_ratio (int): number of inputs samples to take for each output
+                sample. 0 to take samples densely.
+            aligned (bool): if False, use the legacy implementation in
+                Detectron. If True, align the results more perfectly.
+
+        Note:
+            The meaning of aligned=True:
+
+            Given a continuous coordinate c, its two neighboring pixel indices (in our
+            pixel model) are computed by floor(c - 0.5) and ceil(c - 0.5). For example,
+            c=1.3 has pixel neighbors with discrete indices [0] and [1] (which are sampled
+            from the underlying signal at continuous coordinates 0.5 and 1.5). But the original
+            roi_align (aligned=False) does not subtract the 0.5 when computing neighboring
+            pixel indices and therefore it uses pixels with a slightly incorrect alignment
+            (relative to our pixel model) when performing bilinear interpolation.
+
+            With `aligned=True`,
+            we first appropriately scale the ROI and then shift it by -0.5
+            prior to calling roi_align. This produces the correct neighbors; see
+            detectron2/tests/test_roi_align.py for verification.
+
+            The difference does not make a difference to the model's performance if
+            ROIAlign is used together with conv layers.
+        """
+        super().__init__()
+        self.output_size = output_size
+        self.spatial_scale = spatial_scale
+        self.sampling_ratio = sampling_ratio
+        self.aligned = aligned
+
+        from torchvision import __version__
+
+        version = tuple(int(x) for x in __version__.split(".")[:2])
+        # https://github.com/pytorch/vision/pull/2438
+        assert version >= (0, 7), "Require torchvision >= 0.7"
+
+    def forward(self, input, rois):
+        """
+        Args:
+            input: NCHW images
+            rois: Bx5 boxes. First column is the index into N. The other 4 columns are xyxy.
+        """
+        assert rois.dim() == 2 and rois.size(1) == 5
+        if input.is_quantized:
+            input = input.dequantize()
+        return roi_align(
+            input,
+            rois.to(dtype=input.dtype),
+            self.output_size,
+            self.spatial_scale,
+            self.sampling_ratio,
+            self.aligned,
+        )
+
+    def __repr__(self):
+        tmpstr = self.__class__.__name__ + "("
+        tmpstr += "output_size=" + str(self.output_size)
+        tmpstr += ", spatial_scale=" + str(self.spatial_scale)
+        tmpstr += ", sampling_ratio=" + str(self.sampling_ratio)
+        tmpstr += ", aligned=" + str(self.aligned)
+        tmpstr += ")"
+        return tmpstr

data_generation/grit/third_party/CenterNet2/detectron2/layers/roi_align_rotated.py

+# Copyright (c) Facebook, Inc. and its affiliates.
+import torch
+from torch import nn
+from torch.autograd import Function
+from torch.autograd.function import once_differentiable
+from torch.nn.modules.utils import _pair
+
+
+class _ROIAlignRotated(Function):
+    @staticmethod
+    def forward(ctx, input, roi, output_size, spatial_scale, sampling_ratio):
+        ctx.save_for_backward(roi)
+        ctx.output_size = _pair(output_size)
+        ctx.spatial_scale = spatial_scale
+        ctx.sampling_ratio = sampling_ratio
+        ctx.input_shape = input.size()
+        output = torch.ops.detectron2.roi_align_rotated_forward(
+            input, roi, spatial_scale, output_size[0], output_size[1], sampling_ratio
+        )
+        return output
+
+    @staticmethod
+    @once_differentiable
+    def backward(ctx, grad_output):
+        (rois,) = ctx.saved_tensors
+        output_size = ctx.output_size
+        spatial_scale = ctx.spatial_scale
+        sampling_ratio = ctx.sampling_ratio
+        bs, ch, h, w = ctx.input_shape
+        grad_input = torch.ops.detectron2.roi_align_rotated_backward(
+            grad_output,
+            rois,
+            spatial_scale,
+            output_size[0],
+            output_size[1],
+            bs,
+            ch,
+            h,
+            w,
+            sampling_ratio,
+        )
+        return grad_input, None, None, None, None, None
+
+
+roi_align_rotated = _ROIAlignRotated.apply
+
+
+class ROIAlignRotated(nn.Module):
+    def __init__(self, output_size, spatial_scale, sampling_ratio):
+        """
+        Args:
+            output_size (tuple): h, w
+            spatial_scale (float): scale the input boxes by this number
+            sampling_ratio (int): number of inputs samples to take for each output
+                sample. 0 to take samples densely.
+
+        Note:
+            ROIAlignRotated supports continuous coordinate by default:
+            Given a continuous coordinate c, its two neighboring pixel indices (in our
+            pixel model) are computed by floor(c - 0.5) and ceil(c - 0.5). For example,
+            c=1.3 has pixel neighbors with discrete indices [0] and [1] (which are sampled
+            from the underlying signal at continuous coordinates 0.5 and 1.5).
+        """
+        super(ROIAlignRotated, self).__init__()
+        self.output_size = output_size
+        self.spatial_scale = spatial_scale
+        self.sampling_ratio = sampling_ratio
+
+    def forward(self, input, rois):
+        """
+        Args:
+            input: NCHW images
+            rois: Bx6 boxes. First column is the index into N.
+                The other 5 columns are (x_ctr, y_ctr, width, height, angle_degrees).
+        """
+        assert rois.dim() == 2 and rois.size(1) == 6
+        orig_dtype = input.dtype
+        if orig_dtype == torch.float16:
+            input = input.float()
+            rois = rois.float()
+        return roi_align_rotated(
+            input, rois, self.output_size, self.spatial_scale, self.sampling_ratio
+        ).to(dtype=orig_dtype)
+
+    def __repr__(self):
+        tmpstr = self.__class__.__name__ + "("
+        tmpstr += "output_size=" + str(self.output_size)
+        tmpstr += ", spatial_scale=" + str(self.spatial_scale)
+        tmpstr += ", sampling_ratio=" + str(self.sampling_ratio)
+        tmpstr += ")"
+        return tmpstr

data_generation/grit/third_party/CenterNet2/detectron2/layers/rotated_boxes.py

+# Copyright (c) Facebook, Inc. and its affiliates.
+from __future__ import absolute_import, division, print_function, unicode_literals
+import torch
+
+
+def pairwise_iou_rotated(boxes1, boxes2):
+    """
+    Return intersection-over-union (Jaccard index) of boxes.
+
+    Both sets of boxes are expected to be in
+    (x_center, y_center, width, height, angle) format.
+
+    Arguments:
+        boxes1 (Tensor[N, 5])
+        boxes2 (Tensor[M, 5])
+
+    Returns:
+        iou (Tensor[N, M]): the NxM matrix containing the pairwise
+            IoU values for every element in boxes1 and boxes2
+    """
+    return torch.ops.detectron2.box_iou_rotated(boxes1, boxes2)

data_generation/grit/third_party/CenterNet2/detectron2/layers/shape_spec.py

+# -*- coding: utf-8 -*-
+# Copyright (c) Facebook, Inc. and its affiliates.
+from collections import namedtuple
+
+
+class ShapeSpec(namedtuple("_ShapeSpec", ["channels", "height", "width", "stride"])):
+    """
+    A simple structure that contains basic shape specification about a tensor.
+    It is often used as the auxiliary inputs/outputs of models,
+    to complement the lack of shape inference ability among pytorch modules.
+
+    Attributes:
+        channels:
+        height:
+        width:
+        stride:
+    """
+
+    def __new__(cls, channels=None, height=None, width=None, stride=None):
+        return super().__new__(cls, channels, height, width, stride)

data_generation/grit/third_party/CenterNet2/detectron2/layers/wrappers.py

+# Copyright (c) Facebook, Inc. and its affiliates.
+"""
+Wrappers around on some nn functions, mainly to support empty tensors.
+
+Ideally, add support directly in PyTorch to empty tensors in those functions.
+
+These can be removed once https://github.com/pytorch/pytorch/issues/12013
+is implemented
+"""
+
+from typing import List, Optional
+import torch
+from torch.nn import functional as F
+
+
+def shapes_to_tensor(x: List[int], device: Optional[torch.device] = None) -> torch.Tensor:
+    """
+    Turn a list of integer scalars or integer Tensor scalars into a vector,
+    in a way that's both traceable and scriptable.
+
+    In tracing, `x` should be a list of scalar Tensor, so the output can trace to the inputs.
+    In scripting or eager, `x` should be a list of int.
+    """
+    if torch.jit.is_scripting():
+        return torch.as_tensor(x, device=device)
+    if torch.jit.is_tracing():
+        assert all(
+            [isinstance(t, torch.Tensor) for t in x]
+        ), "Shape should be tensor during tracing!"
+        # as_tensor should not be used in tracing because it records a constant
+        ret = torch.stack(x)
+        if ret.device != device:  # avoid recording a hard-coded device if not necessary
+            ret = ret.to(device=device)
+        return ret
+    return torch.as_tensor(x, device=device)
+
+
+def cat(tensors: List[torch.Tensor], dim: int = 0):
+    """
+    Efficient version of torch.cat that avoids a copy if there is only a single element in a list
+    """
+    assert isinstance(tensors, (list, tuple))
+    if len(tensors) == 1:
+        return tensors[0]
+    return torch.cat(tensors, dim)
+
+
+def cross_entropy(input, target, *, reduction="mean", **kwargs):
+    """
+    Same as `torch.nn.functional.cross_entropy`, but returns 0 (instead of nan)
+    for empty inputs.
+    """
+    if target.numel() == 0 and reduction == "mean":
+        return input.sum() * 0.0  # connect the gradient
+    return F.cross_entropy(input, target, reduction=reduction, **kwargs)
+
+
+class _NewEmptyTensorOp(torch.autograd.Function):
+    @staticmethod
+    def forward(ctx, x, new_shape):
+        ctx.shape = x.shape
+        return x.new_empty(new_shape)
+
+    @staticmethod
+    def backward(ctx, grad):
+        shape = ctx.shape
+        return _NewEmptyTensorOp.apply(grad, shape), None
+
+
+class Conv2d(torch.nn.Conv2d):
+    """
+    A wrapper around :class:`torch.nn.Conv2d` to support empty inputs and more features.
+    """
+
+    def __init__(self, *args, **kwargs):
+        """
+        Extra keyword arguments supported in addition to those in `torch.nn.Conv2d`:
+
+        Args:
+            norm (nn.Module, optional): a normalization layer
+            activation (callable(Tensor) -> Tensor): a callable activation function
+
+        It assumes that norm layer is used before activation.
+        """
+        norm = kwargs.pop("norm", None)
+        activation = kwargs.pop("activation", None)
+        super().__init__(*args, **kwargs)
+
+        self.norm = norm
+        self.activation = activation
+
+    def forward(self, x):
+        # torchscript does not support SyncBatchNorm yet
+        # https://github.com/pytorch/pytorch/issues/40507
+        # and we skip these codes in torchscript since:
+        # 1. currently we only support torchscript in evaluation mode
+        # 2. features needed by exporting module to torchscript are added in PyTorch 1.6 or
+        # later version, `Conv2d` in these PyTorch versions has already supported empty inputs.
+        if not torch.jit.is_scripting():
+            if x.numel() == 0 and self.training:
+                # https://github.com/pytorch/pytorch/issues/12013
+                assert not isinstance(
+                    self.norm, torch.nn.SyncBatchNorm
+                ), "SyncBatchNorm does not support empty inputs!"
+
+        x = F.conv2d(
+            x, self.weight, self.bias, self.stride, self.padding, self.dilation, self.groups
+        )
+        if self.norm is not None:
+            x = self.norm(x)
+        if self.activation is not None:
+            x = self.activation(x)
+        return x
+
+
+ConvTranspose2d = torch.nn.ConvTranspose2d
+BatchNorm2d = torch.nn.BatchNorm2d
+interpolate = F.interpolate
+Linear = torch.nn.Linear
+
+
+def nonzero_tuple(x):
+    """
+    A 'as_tuple=True' version of torch.nonzero to support torchscript.
+    because of https://github.com/pytorch/pytorch/issues/38718
+    """
+    if torch.jit.is_scripting():
+        if x.dim() == 0:
+            return x.unsqueeze(0).nonzero().unbind(1)
+        return x.nonzero().unbind(1)
+    else:
+        return x.nonzero(as_tuple=True)

data_generation/grit/third_party/CenterNet2/detectron2/model_zoo/__init__.py

+# Copyright (c) Facebook, Inc. and its affiliates.
+"""
+Model Zoo API for Detectron2: a collection of functions to create common model architectures
+listed in `MODEL_ZOO.md <https://github.com/facebookresearch/detectron2/blob/main/MODEL_ZOO.md>`_,
+and optionally load their pre-trained weights.
+"""
+
+from .model_zoo import get, get_config_file, get_checkpoint_url, get_config
+
+__all__ = ["get_checkpoint_url", "get", "get_config_file", "get_config"]