Add File

pcdet/ops/pointnet2/pointnet2_stack/src/voxel_query.cpp

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+#include <torch/serialize/tensor.h>
+#include <vector>
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <cuda.h>
+#include <cuda_runtime_api.h>
+#include "voxel_query_gpu.h"
+
+#define CHECK_CUDA(x) do { \
+  if (!x.type().is_cuda()) { \
+    fprintf(stderr, "%s must be CUDA tensor at %s:%d\n", #x, __FILE__, __LINE__); \
+    exit(-1); \
+  } \
+} while (0)
+#define CHECK_CONTIGUOUS(x) do { \
+  if (!x.is_contiguous()) { \
+    fprintf(stderr, "%s must be contiguous tensor at %s:%d\n", #x, __FILE__, __LINE__); \
+    exit(-1); \
+  } \
+} while (0)
+#define CHECK_INPUT(x) CHECK_CUDA(x);CHECK_CONTIGUOUS(x)
+
+
+int voxel_query_wrapper_stack(int M, int R1, int R2, int R3, int nsample, float radius, 
+    int z_range, int y_range, int x_range, at::Tensor new_xyz_tensor, at::Tensor xyz_tensor, 
+    at::Tensor new_coords_tensor, at::Tensor point_indices_tensor, at::Tensor idx_tensor) {
+    CHECK_INPUT(new_coords_tensor);
+    CHECK_INPUT(point_indices_tensor);
+    CHECK_INPUT(new_xyz_tensor);
+    CHECK_INPUT(xyz_tensor);
+    
+    const float *new_xyz = new_xyz_tensor.data<float>();
+    const float *xyz = xyz_tensor.data<float>();
+    const int *new_coords = new_coords_tensor.data<int>();
+    const int *point_indices = point_indices_tensor.data<int>();
+    int *idx = idx_tensor.data<int>();
+
+    voxel_query_kernel_launcher_stack(M, R1, R2, R3, nsample, radius, z_range, y_range, x_range, new_xyz, xyz, new_coords, point_indices, idx);
+    return 1;
+}