IoU.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2026 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#ifdef BUILD_SYCL_MODULE
// IoUBevSYCLKernel/IoU3dSYCLKernel take a sycl::queue&, but only the
// -fsycl-compiled TU that defines them (IoUSYCL.cpp) needs the complete
// type; a reference parameter only needs a declaration to be seen. All other
// consumers (IoU.cpp, IoU.cu, and pybind's iou.cpp, none built with -fsycl,
// so none have the oneAPI SYCL include path on their command line) only ever
// call the core::Device overload below and never need a complete
// sycl::queue. Mirror SYCLContext.h's own pattern: include the real runtime
// header only when actually SYCL-compiled, else forward-declare.
#if defined(SYCL_LANGUAGE_VERSION)
#include <sycl/sycl.hpp>
#else
namespace sycl {
class queue;
}
#endif
#endif
 
#include "open3d/core/Device.h"
 
namespace open3d {
namespace ml {
namespace contrib {
 
#ifdef BUILD_CUDA_MODULE
void IoUBevCUDAKernel(const float *boxes_a,
                      const float *boxes_b,
                      float *iou,
                      int num_a,
                      int num_b);
 
void IoU3dCUDAKernel(const float *boxes_a,
                     const float *boxes_b,
                     float *iou,
                     int num_a,
                     int num_b);
 
#endif
 
#ifdef BUILD_SYCL_MODULE
void IoUBevSYCLKernel(sycl::queue &queue,
                      const float *boxes_a,
                      const float *boxes_b,
                      float *iou,
                      int num_a,
                      int num_b);
 
void IoU3dSYCLKernel(sycl::queue &queue,
                     const float *boxes_a,
                     const float *boxes_b,
                     float *iou,
                     int num_a,
                     int num_b);
 
void IoUBevSYCLKernel(const core::Device &device,
                      const float *boxes_a,
                      const float *boxes_b,
                      float *iou,
                      int num_a,
                      int num_b);
 
void IoU3dSYCLKernel(const core::Device &device,
                     const float *boxes_a,
                     const float *boxes_b,
                     float *iou,
                     int num_a,
                     int num_b);
 
#endif
 
void IoUBevCPUKernel(const float *boxes_a,
                     const float *boxes_b,
                     float *iou,
                     int num_a,
                     int num_b);
 
void IoU3dCPUKernel(const float *boxes_a,
                    const float *boxes_b,
                    float *iou,
                    int num_a,
                    int num_b);
 
}  // namespace contrib
}  // namespace ml
}  // namespace open3d