Add nms_rotated ort op (open-mmlab#312)

* fix pose demo and windows build (open-mmlab#307)

* init

* Update nms_rotated.cpp

* add postprocessing_masks gpu version (open-mmlab#276)

* add postprocessing_masks gpu version

* default device cpu

* pre-commit fix

Co-authored-by: hadoop-basecv <[email protected]>

* fixed a bug causes text-recognizer to fail when (non-NULL) empty bboxes list is passed (open-mmlab#310)

* [Fix] include missing <type_traits> for formatter.h (open-mmlab#313)

* fix formatter

* relax GCC version requirement

* fix

* fix lint

* fix lint

* [Fix] MMEditing cannot save results when testing (open-mmlab#336)

* fix show

* lint

* remove redundant codes

* resolve comment

* type hint

* docs(build): fix typo (open-mmlab#352)

* docs(build): add missing build option

* docs(build): add onnx install

* style(doc): trim whitespace

* docs(build): revert install onnx

* docs(build): add ncnn LD_LIBRARY_PATH

* docs(build): fix path error

* fix openvino export tmp model, add binary flag (open-mmlab#353)

* init circleci (open-mmlab#348)

* fix wrong input mat type (open-mmlab#362)

* fix wrong input mat type

* fix lint

* fix(docs): remove redundant doc tree (open-mmlab#360)

* fix missing ncnn_DIR & InferenceEngine_DIR (open-mmlab#364)

* update doc

Co-authored-by: Chen Xin <[email protected]>
Co-authored-by: Shengxi Li <[email protected]>
Co-authored-by: hadoop-basecv <[email protected]>
Co-authored-by: lzhangzz <[email protected]>
Co-authored-by: Yifan Zhou <[email protected]>
Co-authored-by: tpoisonooo <[email protected]>
Co-authored-by: lvhan028 <[email protected]>

csrc/backend_ops/onnxruntime/nms_rotated/nms_rotated.cpp

@@ -0,0 +1,352 @@
+// Copyright (c) OpenMMLab. All rights reserved
+#include "nms_rotated.h"
+
+#include <assert.h>
+
+#include <algorithm>
+#include <cassert>
+#include <cmath>
+#include <iostream>
+#include <iterator>
+#include <numeric>  // std::iota
+#include <vector>
+
+#include "ort_utils.h"
+
+namespace mmdeploy {
+
+namespace {
+struct RotatedBox {
+  float x_ctr, y_ctr, w, h, a;
+};
+struct Point {
+  float x, y;
+  Point(const float& px = 0, const float& py = 0) : x(px), y(py) {}
+  Point operator+(const Point& p) const { return Point(x + p.x, y + p.y); }
+  Point& operator+=(const Point& p) {
+    x += p.x;
+    y += p.y;
+    return *this;
+  }
+  Point operator-(const Point& p) const { return Point(x - p.x, y - p.y); }
+  Point operator*(const float coeff) const { return Point(x * coeff, y * coeff); }
+};
+
+float dot_2d(const Point& A, const Point& B) { return A.x * B.x + A.y * B.y; }
+
+float cross_2d(const Point& A, const Point& B) { return A.x * B.y - B.x * A.y; }
+}  // namespace
+
+void get_rotated_vertices(const RotatedBox& box, Point (&pts)[4]) {
+  // M_PI / 180. == 0.01745329251
+  // double theta = box.a * 0.01745329251;
+  // MODIFIED
+  double theta = box.a;
+  float cosTheta2 = (float)cos(theta) * 0.5f;
+  float sinTheta2 = (float)sin(theta) * 0.5f;
+
+  // y: top --> down; x: left --> right
+  pts[0].x = box.x_ctr - sinTheta2 * box.h - cosTheta2 * box.w;
+  pts[0].y = box.y_ctr + cosTheta2 * box.h - sinTheta2 * box.w;
+  pts[1].x = box.x_ctr + sinTheta2 * box.h - cosTheta2 * box.w;
+  pts[1].y = box.y_ctr - cosTheta2 * box.h - sinTheta2 * box.w;
+  pts[2].x = 2 * box.x_ctr - pts[0].x;
+  pts[2].y = 2 * box.y_ctr - pts[0].y;
+  pts[3].x = 2 * box.x_ctr - pts[1].x;
+  pts[3].y = 2 * box.y_ctr - pts[1].y;
+}
+
+int get_intersection_points(const Point (&pts1)[4], const Point (&pts2)[4],
+                            Point (&intersections)[24]) {
+  // Line vector
+  // A line from p1 to p2 is: p1 + (p2-p1)*t, t=[0,1]
+  Point vec1[4], vec2[4];
+  for (int i = 0; i < 4; i++) {
+    vec1[i] = pts1[(i + 1) % 4] - pts1[i];
+    vec2[i] = pts2[(i + 1) % 4] - pts2[i];
+  }
+
+  // Line test - test all line combos for intersection
+  int num = 0;  // number of intersections
+  for (int i = 0; i < 4; i++) {
+    for (int j = 0; j < 4; j++) {
+      // Solve for 2x2 Ax=b
+      float det = cross_2d(vec2[j], vec1[i]);
+
+      // This takes care of parallel lines
+      if (fabs(det) <= 1e-14) {
+        continue;
+      }
+
+      auto vec12 = pts2[j] - pts1[i];
+
+      float t1 = cross_2d(vec2[j], vec12) / det;
+      float t2 = cross_2d(vec1[i], vec12) / det;
+
+      if (t1 >= 0.0f && t1 <= 1.0f && t2 >= 0.0f && t2 <= 1.0f) {
+        intersections[num++] = pts1[i] + vec1[i] * t1;
+      }
+    }
+  }
+
+  // Check for vertices of rect1 inside rect2
+  {
+    const auto& AB = vec2[0];
+    const auto& DA = vec2[3];
+    auto ABdotAB = dot_2d(AB, AB);
+    auto ADdotAD = dot_2d(DA, DA);
+    for (int i = 0; i < 4; i++) {
+      // assume ABCD is the rectangle, and P is the point to be judged
+      // P is inside ABCD iff. P's projection on AB lies within AB
+      // and P's projection on AD lies within AD
+
+      auto AP = pts1[i] - pts2[0];
+
+      auto APdotAB = dot_2d(AP, AB);
+      auto APdotAD = -dot_2d(AP, DA);
+
+      if ((APdotAB >= 0) && (APdotAD >= 0) && (APdotAB <= ABdotAB) && (APdotAD <= ADdotAD)) {
+        intersections[num++] = pts1[i];
+      }
+    }
+  }
+
+  // Reverse the check - check for vertices of rect2 inside rect1
+  {
+    const auto& AB = vec1[0];
+    const auto& DA = vec1[3];
+    auto ABdotAB = dot_2d(AB, AB);
+    auto ADdotAD = dot_2d(DA, DA);
+    for (int i = 0; i < 4; i++) {
+      auto AP = pts2[i] - pts1[0];
+
+      auto APdotAB = dot_2d(AP, AB);
+      auto APdotAD = -dot_2d(AP, DA);
+
+      if ((APdotAB >= 0) && (APdotAD >= 0) && (APdotAB <= ABdotAB) && (APdotAD <= ADdotAD)) {
+        intersections[num++] = pts2[i];
+      }
+    }
+  }
+
+  return num;
+}
+
+int convex_hull_graham(const Point (&p)[24], const int& num_in, Point (&q)[24],
+                       bool shift_to_zero = false) {
+  assert(num_in >= 2);
+
+  // Step 1:
+  // Find point with minimum y
+  // if more than 1 points have the same minimum y,
+  // pick the one with the minimum x.
+  int t = 0;
+  for (int i = 1; i < num_in; i++) {
+    if (p[i].y < p[t].y || (p[i].y == p[t].y && p[i].x < p[t].x)) {
+      t = i;
+    }
+  }
+  auto& start = p[t];  // starting point
+
+  // Step 2:
+  // Subtract starting point from every points (for sorting in the next step)
+  for (int i = 0; i < num_in; i++) {
+    q[i] = p[i] - start;
+  }
+
+  // Swap the starting point to position 0
+  auto tmp = q[0];
+  q[0] = q[t];
+  q[t] = tmp;
+
+  // Step 3:
+  // Sort point 1 ~ num_in according to their relative cross-product values
+  // (essentially sorting according to angles)
+  // If the angles are the same, sort according to their distance to origin
+  float dist[24];
+  for (int i = 0; i < num_in; i++) {
+    dist[i] = dot_2d(q[i], q[i]);
+  }
+
+  // CPU version
+  std::sort(q + 1, q + num_in, [](const Point& A, const Point& B) -> bool {
+    float temp = cross_2d(A, B);
+    if (fabs(temp) < 1e-6) {
+      return dot_2d(A, A) < dot_2d(B, B);
+    } else {
+      return temp > 0;
+    }
+  });
+  // compute distance to origin after sort, since the points are now different.
+  for (int i = 0; i < num_in; i++) {
+    dist[i] = dot_2d(q[i], q[i]);
+  }
+
+  // Step 4:
+  // Make sure there are at least 2 points (that don't overlap with each other)
+  // in the stack
+  int k;  // index of the non-overlapped second point
+  for (k = 1; k < num_in; k++) {
+    if (dist[k] > 1e-8) {
+      break;
+    }
+  }
+  if (k == num_in) {
+    // We reach the end, which means the convex hull is just one point
+    q[0] = p[t];
+    return 1;
+  }
+  q[1] = q[k];
+  int m = 2;  // 2 points in the stack
+  // Step 5:
+  // Finally we can start the scanning process.
+  // When a non-convex relationship between the 3 points is found
+  // (either concave shape or duplicated points),
+  // we pop the previous point from the stack
+  // until the 3-point relationship is convex again, or
+  // until the stack only contains two points
+  for (int i = k + 1; i < num_in; i++) {
+    while (m > 1 && cross_2d(q[i] - q[m - 2], q[m - 1] - q[m - 2]) >= 0) {
+      m--;
+    }
+    q[m++] = q[i];
+  }
+
+  // Step 6 (Optional):
+  // In general sense we need the original coordinates, so we
+  // need to shift the points back (reverting Step 2)
+  // But if we're only interested in getting the area/perimeter of the shape
+  // We can simply return.
+  if (!shift_to_zero) {
+    for (int i = 0; i < m; i++) {
+      q[i] += start;
+    }
+  }
+
+  return m;
+}
+
+float polygon_area(const Point (&q)[24], const int& m) {
+  if (m <= 2) {
+    return 0;
+  }
+
+  float area = 0;
+  for (int i = 1; i < m - 1; i++) {
+    area += fabs(cross_2d(q[i] - q[0], q[i + 1] - q[0]));
+  }
+
+  return area / 2.0;
+}
+
+float rotated_boxes_intersection(const RotatedBox& box1, const RotatedBox& box2) {
+  // There are up to 4 x 4 + 4 + 4 = 24 intersections (including dups) returned
+  // from rotated_rect_intersection_pts
+  Point intersectPts[24], orderedPts[24];
+
+  Point pts1[4];
+  Point pts2[4];
+  get_rotated_vertices(box1, pts1);
+  get_rotated_vertices(box2, pts2);
+
+  int num = get_intersection_points(pts1, pts2, intersectPts);
+
+  if (num <= 2) {
+    return 0.0;
+  }
+
+  // Convex Hull to order the intersection points in clockwise order and find
+  // the contour area.
+  int num_convex = convex_hull_graham(intersectPts, num, orderedPts, true);
+  return polygon_area(orderedPts, num_convex);
+}
+
+NMSRotatedKernel::NMSRotatedKernel(OrtApi api, const OrtKernelInfo* info)
+    : api_(api), ort_(api_), info_(info) {
+  iou_threshold_ = ort_.KernelInfoGetAttribute<float>(info, "iou_threshold");
+
+  // create allocator
+  allocator_ = Ort::AllocatorWithDefaultOptions();
+}
+
+void NMSRotatedKernel::Compute(OrtKernelContext* context) {
+  const float iou_threshold = iou_threshold_;
+
+  const OrtValue* boxes = ort_.KernelContext_GetInput(context, 0);
+  const float* boxes_data = reinterpret_cast<const float*>(ort_.GetTensorData<float>(boxes));
+  const OrtValue* scores = ort_.KernelContext_GetInput(context, 1);
+  const float* scores_data = reinterpret_cast<const float*>(ort_.GetTensorData<float>(scores));
+
+  OrtTensorDimensions boxes_dim(ort_, boxes);
+  OrtTensorDimensions scores_dim(ort_, scores);
+
+  int64_t nboxes = boxes_dim[0];
+  assert(boxes_dim[1] == 5);  //(cx,cy,w,h,theta)
+
+  // allocate tmp memory
+  float* tmp_boxes = (float*)allocator_.Alloc(sizeof(float) * nboxes * 5);
+  float* sc = (float*)allocator_.Alloc(sizeof(float) * nboxes);
+  bool* select = (bool*)allocator_.Alloc(sizeof(bool) * nboxes);
+  for (int64_t i = 0; i < nboxes; i++) {
+    select[i] = true;
+  }
+
+  memcpy(tmp_boxes, boxes_data, sizeof(float) * nboxes * 5);
+  memcpy(sc, scores_data, sizeof(float) * nboxes);
+
+  // sort scores
+  std::vector<float> tmp_sc;
+  for (int i = 0; i < nboxes; i++) {
+    tmp_sc.push_back(sc[i]);
+  }
+  std::vector<int64_t> order(tmp_sc.size());
+  std::iota(order.begin(), order.end(), 0);
+  std::sort(order.begin(), order.end(),
+            [&tmp_sc](int64_t id1, int64_t id2) { return tmp_sc[id1] > tmp_sc[id2]; });
+
+  for (int64_t _i = 0; _i < nboxes; _i++) {
+    if (select[_i] == false) continue;
+    auto i = order[_i];
+
+    for (int64_t _j = _i + 1; _j < nboxes; _j++) {
+      if (select[_j] == false) continue;
+      auto j = order[_j];
+      RotatedBox box1, box2;
+      auto center_shift_x = (tmp_boxes[i * 5] + tmp_boxes[j * 5]) / 2.0;
+      auto center_shift_y = (tmp_boxes[i * 5 + 1] + tmp_boxes[j * 5 + 1]) / 2.0;
+      box1.x_ctr = tmp_boxes[i * 5] - center_shift_x;
+      box1.y_ctr = tmp_boxes[i * 5 + 1] - center_shift_y;
+      box1.w = tmp_boxes[i * 5 + 2];
+      box1.h = tmp_boxes[i * 5 + 3];
+      box1.a = tmp_boxes[i * 5 + 4];
+      box2.x_ctr = tmp_boxes[j * 5] - center_shift_x;
+      box2.y_ctr = tmp_boxes[j * 5 + 1] - center_shift_y;
+      box2.w = tmp_boxes[j * 5 + 2];
+      box2.h = tmp_boxes[j * 5 + 3];
+      box2.a = tmp_boxes[j * 5 + 4];
+      auto area1 = box1.w * box1.h;
+      auto area2 = box2.w * box2.h;
+      auto intersection = rotated_boxes_intersection(box1, box2);
+      float baseS = 1.0;
+      baseS = (area1 + area2 - intersection);
+      auto ovr = intersection / baseS;
+      if (ovr > iou_threshold) select[_j] = false;
+    }
+  }
+  std::vector<int64_t> res_order;
+  for (int i = 0; i < nboxes; i++) {
+    if (select[i]) {
+      res_order.push_back(order[i]);
+    }
+  }
+
+  std::vector<int64_t> inds_dims({(int64_t)res_order.size()});
+
+  OrtValue* res = ort_.KernelContext_GetOutput(context, 0, inds_dims.data(), inds_dims.size());
+  int64_t* res_data = ort_.GetTensorMutableData<int64_t>(res);
+
+  memcpy(res_data, res_order.data(), sizeof(int64_t) * res_order.size());
+}
+
+REGISTER_ONNXRUNTIME_OPS(mmdeploy, NMSRotatedOp);
+}  // namespace mmdeploy