Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[Fix] fix numerical error in Jarvis #2786

Closed
wants to merge 1 commit into from
Closed

[Fix] fix numerical error in Jarvis #2786

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
36 changes: 28 additions & 8 deletions mmcv/ops/csrc/common/cuda/convex_iou_cuda_kernel.cuh
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -431,8 +431,13 @@ __device__ inline void Jarvis(Point* in_poly, int& n_poly) {
k_index = max_index;
for (int i = 1; i < n_poly; i++) {
sign = cross(in_poly[Stack[top1]], in_poly[i], p_k);
if ((sign > 0) || ((sign == 0) && (dis(in_poly[Stack[top1]], in_poly[i]) >
dis(in_poly[Stack[top1]], p_k)))) {
if(fabs(sign) < 1e-3) {
if (dis(in_poly[Stack[top1]], in_poly[i]) > dis(in_poly[Stack[top1]], p_k)) {
p_k = in_poly[i];
k_index = i;
}
}
else if (sign > 0) {
p_k = in_poly[i];
k_index = i;
}
Expand All @@ -449,8 +454,13 @@ __device__ inline void Jarvis(Point* in_poly, int& n_poly) {
k_index = max_index;
for (int i = 1; i < n_poly; i++) {
sign = cross(in_poly[Stack[top2]], in_poly[i], p_k);
if ((sign < 0) || (sign == 0) && (dis(in_poly[Stack[top2]], in_poly[i]) >
dis(in_poly[Stack[top2]], p_k))) {
if(fabs(sign) < 1e-3) {
if (dis(in_poly[Stack[top2]], in_poly[i]) > dis(in_poly[Stack[top2]], p_k)) {
p_k = in_poly[i];
k_index = i;
}
}
else if (sign < 0) {
p_k = in_poly[i];
k_index = i;
}
Expand Down Expand Up @@ -570,8 +580,13 @@ __device__ inline void Jarvis_and_index(Point* in_poly, int& n_poly,
k_index = max_index;
for (int i = 1; i < n_poly; i++) {
sign = cross(in_poly[Stack[top1]], in_poly[i], p_k);
if ((sign > 0) || ((sign == 0) && (dis(in_poly[Stack[top1]], in_poly[i]) >
dis(in_poly[Stack[top1]], p_k)))) {
if(fabs(sign) < 1e-3) {
if (dis(in_poly[Stack[top1]], in_poly[i]) > dis(in_poly[Stack[top1]], p_k)) {
p_k = in_poly[i];
k_index = i;
}
}
else if (sign > 0) {
p_k = in_poly[i];
k_index = i;
}
Expand All @@ -590,8 +605,13 @@ __device__ inline void Jarvis_and_index(Point* in_poly, int& n_poly,
k_index = max_index;
for (int i = 1; i < n_poly; i++) {
sign = cross(in_poly[Stack[top2]], in_poly[i], p_k);
if ((sign < 0) || (sign == 0) && (dis(in_poly[Stack[top2]], in_poly[i]) >
dis(in_poly[Stack[top2]], p_k))) {
if(fabs(sign) < 1e-3) {
if (dis(in_poly[Stack[top2]], in_poly[i]) > dis(in_poly[Stack[top2]], p_k)) {
p_k = in_poly[i];
k_index = i;
}
}
else if (sign < 0) {
p_k = in_poly[i];
k_index = i;
}
Expand Down
26 changes: 16 additions & 10 deletions mmcv/ops/csrc/common/cuda/min_area_polygons_cuda.cuh
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,13 +28,15 @@ __device__ inline void swap1(Point *a, Point *b) {
b->x = temp.x;
b->y = temp.y;
}

__device__ inline float cross(Point o, Point a, Point b) {
return (a.x - o.x) * (b.y - o.y) - (b.x - o.x) * (a.y - o.y);
}

__device__ inline float dis(Point a, Point b) {
return (a.x - b.x) * (a.x - b.x) + (a.y - b.y) * (a.y - b.y);
}

__device__ inline void minBoundingRect(Point *ps, int n_points, float *minbox) {
float convex_points[2][MAXN];
for (int j = 0; j < n_points; j++) {
Expand Down Expand Up @@ -159,12 +161,6 @@ __device__ inline void minBoundingRect(Point *ps, int n_points, float *minbox) {

// convex_find
__device__ inline void Jarvis(Point *in_poly, int &n_poly) {
int n_input = n_poly;
Point input_poly[20];
for (int i = 0; i < n_input; i++) {
input_poly[i].x = in_poly[i].x;
input_poly[i].y = in_poly[i].y;
}
Point p_max, p_k;
int max_index, k_index;
int Stack[20], top1, top2;
Expand Down Expand Up @@ -200,8 +196,13 @@ __device__ inline void Jarvis(Point *in_poly, int &n_poly) {
k_index = max_index;
for (int i = 1; i < n_poly; i++) {
sign = cross(in_poly[Stack[top1]], in_poly[i], p_k);
if ((sign > 0) || ((sign == 0) && (dis(in_poly[Stack[top1]], in_poly[i]) >
dis(in_poly[Stack[top1]], p_k)))) {
if(fabs(sign) < 1e-3) {
if (dis(in_poly[Stack[top1]], in_poly[i]) > dis(in_poly[Stack[top1]], p_k)) {
p_k = in_poly[i];
k_index = i;
}
}
else if (sign > 0) {
p_k = in_poly[i];
k_index = i;
}
Expand All @@ -221,8 +222,13 @@ __device__ inline void Jarvis(Point *in_poly, int &n_poly) {
k_index = max_index;
for (int i = 1; i < n_poly; i++) {
sign = cross(in_poly[Stack[top2]], in_poly[i], p_k);
if ((sign < 0) || (sign == 0) && (dis(in_poly[Stack[top2]], in_poly[i]) >
dis(in_poly[Stack[top2]], p_k))) {
if(fabs(sign) < 1e-3) {
if (dis(in_poly[Stack[top2]], in_poly[i]) > dis(in_poly[Stack[top2]], p_k)) {
p_k = in_poly[i];
k_index = i;
}
}
else if (sign < 0) {
p_k = in_poly[i];
k_index = i;
}
Expand Down