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Add 3D CenterNet detection class

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Signed-off-by: Davide Sapienza <sapienza.dav@gmail.com>
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Davide Sapienza
2020-05-27 18:03:09 +02:00
parent 64098ad244
commit ba8c282384
6 changed files with 779 additions and 0 deletions
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src/kernels/postprocessing.cu
+14
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@@ -1,5 +1,11 @@
#include "kernelsThrust.h"
void transformDep(float *src_begin, float *src_end, float *dst_begin, float *dst_end) {
int e = exp(-6);
thrust::transform(thrust::device, dst_begin, dst_end, thrust::make_constant_iterator(e), dst_begin, thrust::plus<float>());
thrust::transform(thrust::device, src_begin, src_end, dst_begin, dst_begin, thrust::divides<float>());
thrust::transform(thrust::device, dst_begin, dst_end, thrust::make_constant_iterator(-1.0), dst_begin, thrust::plus<float>());
}
void subtractWithThreshold(dnnType *src_begin, dnnType *src_end, dnnType *src2_begin, dnnType *src_out, struct threshold op){
thrust::transform(thrust::device, src_begin, src_end, src2_begin, src_out, op);
@@ -51,6 +57,14 @@ void topKxyAddOffset(int * ids_begin, const int K, const int size,
thrust::transform(thrust::device, intys_begin, intys_begin + K, src_out, ys_begin, thrust::plus<float>());
}
void getRecordsFromTopKId(int * ids_begin, const int K, const int ch, const int size, dnnType *src_begin, float *src_out, int *ids_out) {
for(int i=0; i<ch; i++) {
// thrust::gather(thrust::device, ids_begin, ids_begin + K, src_begin, src_out);
thrust::transform(thrust::device, ids_begin, ids_begin + K, thrust::make_constant_iterator(i*size), ids_out, thrust::plus<int>());
thrust::gather(thrust::device, ids_out, ids_out + K, src_begin, src_out+i*K);
}
}
void bboxes(int * ids_begin, const int K, const int size, float *xs_begin, float *ys_begin,
dnnType *src_begin, float *bbx0, float *bbx1, float *bby0, float *bby1,
float *src_out, int *ids_out){