diff --git a/research/cv/pointpillars/src/core/box_np_ops.py b/research/cv/pointpillars/src/core/box_np_ops.py index db2d364ef46b43b7272d965bc65e0d4816d903b3..4256cb0b5a0c1c2f2e85c77affd969cbd090fa48 100644 --- a/research/cv/pointpillars/src/core/box_np_ops.py +++ b/research/cv/pointpillars/src/core/box_np_ops.py @@ -362,7 +362,7 @@ def center_to_corner_box2d(centers, dims, angles=None, origin=0.5): return corners -#@numba.jit(nopython=True) +@numba.jit(nopython=True) def box2d_to_corner_jit(boxes): """box 2d to corner""" num_box = boxes.shape[0] @@ -613,7 +613,7 @@ def remove_outside_points(points, rect, trv2c, p2, image_shape): return points -#@numba.jit(nopython=True) +@numba.jit(nopython=True) def iou_jit(boxes, query_boxes, eps=0.0): """calculate box iou. note that jit version runs 2x faster than cython in my machine! @@ -682,7 +682,7 @@ def corner_to_surfaces_3d(corners): return surfaces -#@numba.jit(nopython=True) +@numba.jit(nopython=True) def corner_to_surfaces_3d_jit(corners): """convert 3d box corners from corner function above to surfaces that normal vectors all direct to internal. @@ -705,7 +705,7 @@ def corner_to_surfaces_3d_jit(corners): return surfaces -##@numba.jit(nopython=True) +@numba.jit(nopython=True) def sparse_sum_for_anchors_mask(coors, shape): """sparse sum for anchors mask""" ret = np.zeros(shape, dtype=np.float32) @@ -714,7 +714,7 @@ def sparse_sum_for_anchors_mask(coors, shape): return ret -#@numba.jit(nopython=True) +@numba.jit(nopython=True) def fused_get_anchors_area(dense_map, anchors_bv, stride, offset, grid_size): """fused get anchors area""" @@ -740,7 +740,7 @@ def fused_get_anchors_area(dense_map, anchors_bv, stride, return ret -#@numba.jit(nopython=True) +@numba.jit(nopython=True) def distance_similarity(points, qpoints, dist_norm,