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// -                        Open3D: www.open3d.org                            -
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// The MIT License (MIT)
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// Copyright (c) 2018-2021 www.open3d.org
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//
// Reference:
// https://github.com/open-mmlab/OpenPCDet/blob/master/pcdet/ops/iou3d_nms/src/iou3d_nms_kernel.cu
//
// Reference:
// https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/ops/iou3d/src/iou3d_kernel.cu
// 3D IoU Calculation and Rotated NMS(modified from 2D NMS written by others)
// Written by Shaoshuai Shi
// All Rights Reserved 2019-2020.

#include "open3d/ml/contrib/Nms.h"

#include <tbb/parallel_for.h>

#include <iostream>
#include <numeric>

#include "open3d/ml/contrib/IoUImpl.h"
#include "open3d/utility/Helper.h"

namespace open3d {
namespace ml {
namespace contrib {

template <typename T>
static std::vector<int64_t> SortIndexes(const T *values,
                                        int64_t num,
                                        bool descending = false) {
    std::vector<int64_t> indices(num);
    std::iota(indices.begin(), indices.end(), 0);
    if (descending) {
        std::stable_sort(indices.begin(), indices.end(),
                         [&values](int64_t i, int64_t j) {
                             return values[i] > values[j];
                         });
    } else {
        std::stable_sort(indices.begin(), indices.end(),
                         [&values](int64_t i, int64_t j) {
                             return values[i] < values[j];
                         });
    }
    return indices;
}

static void AllPairsSortedIoU(const float *boxes,
                              const float *scores,
                              const int64_t *sort_indices,
                              uint64_t *mask,
                              int n,
                              double nms_overlap_thresh) {
    const int num_block_cols = utility::DivUp(n, NMS_BLOCK_SIZE);
    const int num_block_rows = utility::DivUp(n, NMS_BLOCK_SIZE);

    // We need the concept of "block" since the mask is a uint64_t binary bit
    // map, and the block size is exactly 64x64. This is also consistent with
    // the CUDA implementation.
    tbb::parallel_for(
            tbb::blocked_range<int>(0, num_block_cols),
            [&](const tbb::blocked_range<int> &r) {
                for (int block_col_idx = r.begin(); block_col_idx != r.end();
                     ++block_col_idx) {
                    for (int block_row_idx = 0; block_row_idx < num_block_rows;
                         ++block_row_idx) {
                        // Local block row size.
                        const int row_size =
                                fminf(n - block_row_idx * NMS_BLOCK_SIZE,
                                      NMS_BLOCK_SIZE);
                        // Local block col size.
                        const int col_size =
                                fminf(n - block_col_idx * NMS_BLOCK_SIZE,
                                      NMS_BLOCK_SIZE);

                        // Comparing src and dst. With all blocks, all src and
                        // dst indices are compared. In one block, the following
                        // src and dst indices are compared:
                        // - src: BS * block_row_idx : BS * block_row_idx +
                        // row_size
                        // - dst: BS * block_col_idx : BS * block_col_idx +
                        // col_size
                        //
                        // Result:
                        // mask[i, j] is a 64-bit integer where mask[i, j][k] (k
                        // counted from right) is 1 iff box[i] overlaps with
                        // box[BS*j+k].
                        for (int src_idx = NMS_BLOCK_SIZE * block_row_idx;
                             src_idx <
                             NMS_BLOCK_SIZE * block_row_idx + row_size;
                             src_idx++) {
                            uint64_t t = 0;
                            for (int dst_idx = NMS_BLOCK_SIZE * block_col_idx;
                                 dst_idx <
                                 NMS_BLOCK_SIZE * block_col_idx + col_size;
                                 dst_idx++) {
                                // Unlike the CUDA impl, both src_idx and
                                // dst_idx here are indexes to the global
                                // memory. Thus we need to compute the local
                                // index for dst_idx.
                                if (IoUBev2DWithMinAndMax(
                                            boxes + sort_indices[src_idx] * 5,
                                            boxes + sort_indices[dst_idx] * 5) >
                                    nms_overlap_thresh) {
                                    t |= 1ULL
                                         << (dst_idx -
                                             NMS_BLOCK_SIZE * block_col_idx);
                                }
                            }
                            mask[src_idx * num_block_cols + block_col_idx] = t;
                        }
                    }
                }
            });
}

std::vector<int64_t> NmsCPUKernel(const float *boxes,
                                  const float *scores,
                                  int n,
                                  double nms_overlap_thresh) {
    std::vector<int64_t> sort_indices = SortIndexes(scores, n, true);

    const int num_block_cols = utility::DivUp(n, NMS_BLOCK_SIZE);

    // Call kernel. Results will be saved in masks.
    // boxes: (n, 5)
    // mask:  (n, n/BS)
    std::vector<uint64_t> mask_vec(n * num_block_cols);
    uint64_t *mask = mask_vec.data();
    AllPairsSortedIoU(boxes, scores, sort_indices.data(), mask, n,
                      nms_overlap_thresh);

    // Write to keep. remv_cpu has n bits in total. If the bit is 1, the
    // corresponding box will be removed.
    std::vector<uint64_t> remv_cpu(num_block_cols, 0);
    std::vector<int64_t> keep_indices;
    for (int i = 0; i < n; i++) {
        int block_col_idx = i / NMS_BLOCK_SIZE;
        int inner_block_col_idx = i % NMS_BLOCK_SIZE;  // threadIdx.x

        // Querying the i-th bit in remv_cpu, counted from the right.
        // - remv_cpu[block_col_idx]: the block bitmap containing the query.
        // - 1ULL << inner_block_col_idx: the one-hot bitmap to extract i.
        if (!(remv_cpu[block_col_idx] & (1ULL << inner_block_col_idx))) {
            // Keep the i-th box.
            keep_indices.push_back(sort_indices[i]);

            // Any box that overlaps with the i-th box will be removed.
            uint64_t *p = mask + i * num_block_cols;
            for (int j = block_col_idx; j < num_block_cols; j++) {
                remv_cpu[j] |= p[j];
            }
        }
    }

    return keep_indices;
}

}  // namespace contrib
}  // namespace ml
}  // namespace open3d
