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pcdet/ops/pointnet2/pointnet2_batch/src/sampling.cpp

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+/*
+batch version of point sampling and gathering, modified from the original implementation of official PointNet++ codes.
+Written by Shaoshuai Shi
+All Rights Reserved 2018.
+*/
+
+
+#include <torch/serialize/tensor.h>
+#include <ATen/cuda/CUDAContext.h>
+#include <vector>
+#include "sampling_gpu.h"
+
+
+int gather_points_wrapper_fast(int b, int c, int n, int npoints, 
+    at::Tensor points_tensor, at::Tensor idx_tensor, at::Tensor out_tensor){
+    const float *points = points_tensor.data<float>();
+    const int *idx = idx_tensor.data<int>();
+    float *out = out_tensor.data<float>();
+
+    gather_points_kernel_launcher_fast(b, c, n, npoints, points, idx, out);
+    return 1;
+}
+
+
+int gather_points_grad_wrapper_fast(int b, int c, int n, int npoints, 
+    at::Tensor grad_out_tensor, at::Tensor idx_tensor, at::Tensor grad_points_tensor) {
+
+    const float *grad_out = grad_out_tensor.data<float>();
+    const int *idx = idx_tensor.data<int>();
+    float *grad_points = grad_points_tensor.data<float>();
+
+    gather_points_grad_kernel_launcher_fast(b, c, n, npoints, grad_out, idx, grad_points);
+    return 1;
+}
+
+
+int farthest_point_sampling_wrapper(int b, int n, int m,
+    at::Tensor points_tensor, at::Tensor temp_tensor, at::Tensor idx_tensor) {
+
+    const float *points = points_tensor.data<float>();
+    float *temp = temp_tensor.data<float>();
+    int *idx = idx_tensor.data<int>();
+
+    farthest_point_sampling_kernel_launcher(b, n, m, points, temp, idx);
+    return 1;
+}