Generated by Cython 3.0.11
+
+ Yellow lines hint at Python interaction.
+ Click on a line that starts with a "+" to see the C code that Cython generated for it.
+
Raw output: processing.c
++001: # File: processing.pyx+
__pyx_t_2 = __Pyx_PyDict_NewPresized(0); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 1, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + if (PyDict_SetItem(__pyx_d, __pyx_n_s_test, __pyx_t_2) < 0) __PYX_ERR(0, 1, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; +
002: # cython: language_level=3, boundscheck=False, wraparound=False, nonecheck=False, cdivision=True+
003:
++004: import numpy as np+
__pyx_t_2 = __Pyx_ImportDottedModule(__pyx_n_s_numpy, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 4, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + if (PyDict_SetItem(__pyx_d, __pyx_n_s_np, __pyx_t_2) < 0) __PYX_ERR(0, 4, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; +
005: cimport numpy as np+
+006: import pandas as pd+
__pyx_t_2 = __Pyx_ImportDottedModule(__pyx_n_s_pandas, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 6, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + if (PyDict_SetItem(__pyx_d, __pyx_n_s_pd, __pyx_t_2) < 0) __PYX_ERR(0, 6, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; +
007: cimport pandas as pd+
008: from libc.math cimport isnan+
009: from cpython.mem cimport PyMem_Malloc, PyMem_Free+
010:
+011: # Define C types for better performance+
+012: ctypedef np.float32_t DTYPE_t+
typedef __pyx_t_5numpy_float32_t __pyx_t_13processing_cy_DTYPE_t; +
013: ctypedef np.int32_t ITYPE_t+
014:
++015: def process_bbox_depth_cy(np.ndarray[DTYPE_t, ndim=2] depth_map,+
/* Python wrapper */ +static PyObject *__pyx_pw_13processing_cy_1process_bbox_depth_cy(PyObject *__pyx_self, +#if CYTHON_METH_FASTCALL +PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds +#else +PyObject *__pyx_args, PyObject *__pyx_kwds +#endif +); /*proto*/ +PyDoc_STRVAR(__pyx_doc_13processing_cy_process_bbox_depth_cy, "\n Optimized bbox depth calculations using Cython\n "); +static PyMethodDef __pyx_mdef_13processing_cy_1process_bbox_depth_cy = {"process_bbox_depth_cy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_13processing_cy_1process_bbox_depth_cy, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_13processing_cy_process_bbox_depth_cy}; +static PyObject *__pyx_pw_13processing_cy_1process_bbox_depth_cy(PyObject *__pyx_self, +#if CYTHON_METH_FASTCALL +PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds +#else +PyObject *__pyx_args, PyObject *__pyx_kwds +#endif +) { + PyArrayObject *__pyx_v_depth_map = 0; + int __pyx_v_y_min; + int __pyx_v_y_max; + int __pyx_v_x_min; + int __pyx_v_x_max; + #if !CYTHON_METH_FASTCALL + CYTHON_UNUSED Py_ssize_t __pyx_nargs; + #endif + CYTHON_UNUSED PyObject *const *__pyx_kwvalues; + PyObject *__pyx_r = 0; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("process_bbox_depth_cy (wrapper)", 0); + #if !CYTHON_METH_FASTCALL + #if CYTHON_ASSUME_SAFE_MACROS + __pyx_nargs = PyTuple_GET_SIZE(__pyx_args); + #else + __pyx_nargs = PyTuple_Size(__pyx_args); if (unlikely(__pyx_nargs < 0)) return NULL; + #endif + #endif + __pyx_kwvalues = __Pyx_KwValues_FASTCALL(__pyx_args, __pyx_nargs); + { + PyObject **__pyx_pyargnames[] = {&__pyx_n_s_depth_map,&__pyx_n_s_y_min,&__pyx_n_s_y_max,&__pyx_n_s_x_min,&__pyx_n_s_x_max,0}; + PyObject* values[5] = {0,0,0,0,0}; + if (__pyx_kwds) { + Py_ssize_t kw_args; + switch (__pyx_nargs) { + case 5: values[4] = __Pyx_Arg_FASTCALL(__pyx_args, 4); + CYTHON_FALLTHROUGH; + case 4: values[3] = __Pyx_Arg_FASTCALL(__pyx_args, 3); + CYTHON_FALLTHROUGH; + case 3: values[2] = __Pyx_Arg_FASTCALL(__pyx_args, 2); + CYTHON_FALLTHROUGH; + case 2: values[1] = __Pyx_Arg_FASTCALL(__pyx_args, 1); + CYTHON_FALLTHROUGH; + case 1: values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = __Pyx_NumKwargs_FASTCALL(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_depth_map)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 15, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + CYTHON_FALLTHROUGH; + case 1: + if (likely((values[1] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_y_min)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[1]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 15, __pyx_L3_error) + else { + __Pyx_RaiseArgtupleInvalid("process_bbox_depth_cy", 1, 5, 5, 1); __PYX_ERR(0, 15, __pyx_L3_error) + } + CYTHON_FALLTHROUGH; + case 2: + if (likely((values[2] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_y_max)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[2]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 15, __pyx_L3_error) + else { + __Pyx_RaiseArgtupleInvalid("process_bbox_depth_cy", 1, 5, 5, 2); __PYX_ERR(0, 15, __pyx_L3_error) + } + CYTHON_FALLTHROUGH; + case 3: + if (likely((values[3] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_x_min)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[3]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 15, __pyx_L3_error) + else { + __Pyx_RaiseArgtupleInvalid("process_bbox_depth_cy", 1, 5, 5, 3); __PYX_ERR(0, 15, __pyx_L3_error) + } + CYTHON_FALLTHROUGH; + case 4: + if (likely((values[4] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_x_max)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[4]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 15, __pyx_L3_error) + else { + __Pyx_RaiseArgtupleInvalid("process_bbox_depth_cy", 1, 5, 5, 4); __PYX_ERR(0, 15, __pyx_L3_error) + } + } + if (unlikely(kw_args > 0)) { + const Py_ssize_t kwd_pos_args = __pyx_nargs; + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "process_bbox_depth_cy") < 0)) __PYX_ERR(0, 15, __pyx_L3_error) + } + } else if (unlikely(__pyx_nargs != 5)) { + goto __pyx_L5_argtuple_error; + } else { + values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + values[1] = __Pyx_Arg_FASTCALL(__pyx_args, 1); + values[2] = __Pyx_Arg_FASTCALL(__pyx_args, 2); + values[3] = __Pyx_Arg_FASTCALL(__pyx_args, 3); + values[4] = __Pyx_Arg_FASTCALL(__pyx_args, 4); + } + __pyx_v_depth_map = ((PyArrayObject *)values[0]); + __pyx_v_y_min = __Pyx_PyInt_As_int(values[1]); if (unlikely((__pyx_v_y_min == (int)-1) && PyErr_Occurred())) __PYX_ERR(0, 16, __pyx_L3_error) + __pyx_v_y_max = __Pyx_PyInt_As_int(values[2]); if (unlikely((__pyx_v_y_max == (int)-1) && PyErr_Occurred())) __PYX_ERR(0, 16, __pyx_L3_error) + __pyx_v_x_min = __Pyx_PyInt_As_int(values[3]); if (unlikely((__pyx_v_x_min == (int)-1) && PyErr_Occurred())) __PYX_ERR(0, 16, __pyx_L3_error) + __pyx_v_x_max = __Pyx_PyInt_As_int(values[4]); if (unlikely((__pyx_v_x_max == (int)-1) && PyErr_Occurred())) __PYX_ERR(0, 16, __pyx_L3_error) + } + goto __pyx_L6_skip; + __pyx_L5_argtuple_error:; + __Pyx_RaiseArgtupleInvalid("process_bbox_depth_cy", 1, 5, 5, __pyx_nargs); __PYX_ERR(0, 15, __pyx_L3_error) + __pyx_L6_skip:; + goto __pyx_L4_argument_unpacking_done; + __pyx_L3_error:; + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_AddTraceback("processing_cy.process_bbox_depth_cy", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_RefNannyFinishContext(); + return NULL; + __pyx_L4_argument_unpacking_done:; + if (unlikely(!__Pyx_ArgTypeTest(((PyObject *)__pyx_v_depth_map), __pyx_ptype_5numpy_ndarray, 1, "depth_map", 0))) __PYX_ERR(0, 15, __pyx_L1_error) + __pyx_r = __pyx_pf_13processing_cy_process_bbox_depth_cy(__pyx_self, __pyx_v_depth_map, __pyx_v_y_min, __pyx_v_y_max, __pyx_v_x_min, __pyx_v_x_max); + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + + /* function exit code */ + goto __pyx_L0; + __pyx_L1_error:; + __pyx_r = NULL; + __pyx_L0:; + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_pf_13processing_cy_process_bbox_depth_cy(CYTHON_UNUSED PyObject *__pyx_self, PyArrayObject *__pyx_v_depth_map, int __pyx_v_y_min, int __pyx_v_y_max, int __pyx_v_x_min, int __pyx_v_x_max) { + int __pyx_v_i; + int __pyx_v_j; + int __pyx_v_count; + double __pyx_v_sum_val; + double __pyx_v_mean_val; + PyArrayObject *__pyx_v_flat_vals = 0; + int __pyx_v_flat_size; + __Pyx_LocalBuf_ND __pyx_pybuffernd_depth_map; + __Pyx_Buffer __pyx_pybuffer_depth_map; + __Pyx_LocalBuf_ND __pyx_pybuffernd_flat_vals; + __Pyx_Buffer __pyx_pybuffer_flat_vals; + PyObject *__pyx_r = NULL; + __pyx_pybuffer_flat_vals.pybuffer.buf = NULL; + __pyx_pybuffer_flat_vals.refcount = 0; + __pyx_pybuffernd_flat_vals.data = NULL; + __pyx_pybuffernd_flat_vals.rcbuffer = &__pyx_pybuffer_flat_vals; + __pyx_pybuffer_depth_map.pybuffer.buf = NULL; + __pyx_pybuffer_depth_map.refcount = 0; + __pyx_pybuffernd_depth_map.data = NULL; + __pyx_pybuffernd_depth_map.rcbuffer = &__pyx_pybuffer_depth_map; + { + __Pyx_BufFmt_StackElem __pyx_stack[1]; + if (unlikely(__Pyx_GetBufferAndValidate(&__pyx_pybuffernd_depth_map.rcbuffer->pybuffer, (PyObject*)__pyx_v_depth_map, &__Pyx_TypeInfo_nn___pyx_t_13processing_cy_DTYPE_t, PyBUF_FORMAT| PyBUF_STRIDES, 2, 0, __pyx_stack) == -1)) __PYX_ERR(0, 15, __pyx_L1_error) + } + __pyx_pybuffernd_depth_map.diminfo[0].strides = __pyx_pybuffernd_depth_map.rcbuffer->pybuffer.strides[0]; __pyx_pybuffernd_depth_map.diminfo[0].shape = __pyx_pybuffernd_depth_map.rcbuffer->pybuffer.shape[0]; __pyx_pybuffernd_depth_map.diminfo[1].strides = __pyx_pybuffernd_depth_map.rcbuffer->pybuffer.strides[1]; __pyx_pybuffernd_depth_map.diminfo[1].shape = __pyx_pybuffernd_depth_map.rcbuffer->pybuffer.shape[1]; +/* … */ + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_10); + __Pyx_XDECREF(__pyx_t_11); + __Pyx_XDECREF(__pyx_t_12); + __Pyx_XDECREF(__pyx_t_13); + __Pyx_XDECREF(__pyx_t_14); + __Pyx_XDECREF(__pyx_t_21); + { PyObject *__pyx_type, *__pyx_value, *__pyx_tb; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&__pyx_type, &__pyx_value, &__pyx_tb); + __Pyx_SafeReleaseBuffer(&__pyx_pybuffernd_depth_map.rcbuffer->pybuffer); + __Pyx_SafeReleaseBuffer(&__pyx_pybuffernd_flat_vals.rcbuffer->pybuffer); + __Pyx_ErrRestore(__pyx_type, __pyx_value, __pyx_tb);} + __Pyx_AddTraceback("processing_cy.process_bbox_depth_cy", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = NULL; + goto __pyx_L2; + __pyx_L0:; + __Pyx_SafeReleaseBuffer(&__pyx_pybuffernd_depth_map.rcbuffer->pybuffer); + __Pyx_SafeReleaseBuffer(&__pyx_pybuffernd_flat_vals.rcbuffer->pybuffer); + __pyx_L2:; + __Pyx_XDECREF((PyObject *)__pyx_v_flat_vals); + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} +/* … */ + __pyx_tuple__4 = PyTuple_Pack(12, __pyx_n_s_depth_map, __pyx_n_s_y_min, __pyx_n_s_y_max, __pyx_n_s_x_min, __pyx_n_s_x_max, __pyx_n_s_i, __pyx_n_s_j, __pyx_n_s_count, __pyx_n_s_sum_val, __pyx_n_s_mean_val, __pyx_n_s_flat_vals, __pyx_n_s_flat_size); if (unlikely(!__pyx_tuple__4)) __PYX_ERR(0, 15, __pyx_L1_error) + __Pyx_GOTREF(__pyx_tuple__4); + __Pyx_GIVEREF(__pyx_tuple__4); +/* … */ + __pyx_t_2 = __Pyx_CyFunction_New(&__pyx_mdef_13processing_cy_1process_bbox_depth_cy, 0, __pyx_n_s_process_bbox_depth_cy, NULL, __pyx_n_s_processing_cy, __pyx_d, ((PyObject *)__pyx_codeobj__5)); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 15, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + if (PyDict_SetItem(__pyx_d, __pyx_n_s_process_bbox_depth_cy, __pyx_t_2) < 0) __PYX_ERR(0, 15, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; + __pyx_codeobj__5 = (PyObject*)__Pyx_PyCode_New(5, 0, 0, 12, 0, CO_OPTIMIZED|CO_NEWLOCALS, __pyx_empty_bytes, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_tuple__4, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_kp_s_processing_pyx, __pyx_n_s_process_bbox_depth_cy, 15, __pyx_empty_bytes); if (unlikely(!__pyx_codeobj__5)) __PYX_ERR(0, 15, __pyx_L1_error) +
016: int y_min, int y_max, int x_min, int x_max):+
017: """+
018: Optimized bbox depth calculations using Cython+
019: """+
020: cdef:+
+021: int i, j, count = 0+
__pyx_v_count = 0; +
+022: double sum_val = 0.0+
__pyx_v_sum_val = 0.0; +
+023: double mean_val = 0.0+
__pyx_v_mean_val = 0.0; +
024: np.ndarray[DTYPE_t, ndim=1] flat_vals+
+025: int flat_size = 0+
__pyx_v_flat_size = 0; +
026:
++027: for i in range(y_min, y_max):+
__pyx_t_1 = __pyx_v_y_max;
+ __pyx_t_2 = __pyx_t_1;
+ for (__pyx_t_3 = __pyx_v_y_min; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) {
+ __pyx_v_i = __pyx_t_3;
++028: for j in range(x_min, x_max):+
__pyx_t_4 = __pyx_v_x_max;
+ __pyx_t_5 = __pyx_t_4;
+ for (__pyx_t_6 = __pyx_v_x_min; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) {
+ __pyx_v_j = __pyx_t_6;
++029: if not isnan(depth_map[i, j]):+
__pyx_t_7 = __pyx_v_i;
+ __pyx_t_8 = __pyx_v_j;
+ __pyx_t_9 = (!isnan((*__Pyx_BufPtrStrided2d(__pyx_t_13processing_cy_DTYPE_t *, __pyx_pybuffernd_depth_map.rcbuffer->pybuffer.buf, __pyx_t_7, __pyx_pybuffernd_depth_map.diminfo[0].strides, __pyx_t_8, __pyx_pybuffernd_depth_map.diminfo[1].strides))));
+ if (__pyx_t_9) {
+/* … */
+ }
+ }
+ }
++030: sum_val += depth_map[i, j]+
__pyx_t_8 = __pyx_v_i; + __pyx_t_7 = __pyx_v_j; + __pyx_v_sum_val = (__pyx_v_sum_val + (*__Pyx_BufPtrStrided2d(__pyx_t_13processing_cy_DTYPE_t *, __pyx_pybuffernd_depth_map.rcbuffer->pybuffer.buf, __pyx_t_8, __pyx_pybuffernd_depth_map.diminfo[0].strides, __pyx_t_7, __pyx_pybuffernd_depth_map.diminfo[1].strides))); +
+031: count += 1+
__pyx_v_count = (__pyx_v_count + 1); +
032:
++033: if count > 0:+
__pyx_t_9 = (__pyx_v_count > 0);
+ if (__pyx_t_9) {
+/* … */
+ }
++034: mean_val = sum_val / count+
__pyx_v_mean_val = (__pyx_v_sum_val / ((double)__pyx_v_count)); +
035:
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049: np.ndarray[ITYPE_t, ndim=2] boxes):+
050: """+
051: Optimized overlap handling using Cython+
052: """+
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055: int i, j+
056: int y_min1, y_max1, x_min1, x_max1+
057: int y_min2, y_max2, x_min2, x_max2+
058: double area1, area2, area_intersection+
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__pyx_t_2 = (!(__pyx_v_to_remove != 0));
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PyErr_NoMemory(); __PYX_ERR(0, 62, __pyx_L1_error) +
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(__pyx_v_to_remove[__pyx_v_i]) = 0; + } +
067:
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if ((__pyx_v_to_remove[__pyx_v_i])) {
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goto __pyx_L9_continue; +
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073:
++074: for j in range(i + 1, n_boxes):+
__pyx_t_16 = __pyx_v_n_boxes;
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if ((__pyx_v_to_remove[__pyx_v_j])) {
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goto __pyx_L14_continue; +
077:
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