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

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+/*
+Stacked-batch-data version of point grouping, modified from the original implementation of official PointNet++ codes.
+Written by Shaoshuai Shi
+All Rights Reserved 2019-2020.
+*/
+
+
+#include <torch/serialize/tensor.h>
+#include <cuda.h>
+#include <cuda_runtime_api.h>
+#include <vector>
+#include "group_points_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 group_points_grad_wrapper_stack(int B, int M, int C, int N, int nsample,
+    at::Tensor grad_out_tensor, at::Tensor idx_tensor, at::Tensor idx_batch_cnt_tensor,
+    at::Tensor features_batch_cnt_tensor, at::Tensor grad_features_tensor) {
+
+    CHECK_INPUT(grad_out_tensor);
+    CHECK_INPUT(idx_tensor);
+    CHECK_INPUT(idx_batch_cnt_tensor);
+    CHECK_INPUT(features_batch_cnt_tensor);
+    CHECK_INPUT(grad_features_tensor);
+
+    const float *grad_out = grad_out_tensor.data<float>();
+    const int *idx = idx_tensor.data<int>();
+    const int *idx_batch_cnt = idx_batch_cnt_tensor.data<int>();
+    const int *features_batch_cnt = features_batch_cnt_tensor.data<int>();
+    float *grad_features = grad_features_tensor.data<float>();
+
+    group_points_grad_kernel_launcher_stack(B, M, C, N, nsample, grad_out, idx, idx_batch_cnt, features_batch_cnt, grad_features);
+    return 1;
+}
+
+
+int group_points_wrapper_stack(int B, int M, int C, int nsample,
+    at::Tensor features_tensor, at::Tensor features_batch_cnt_tensor,
+    at::Tensor idx_tensor, at::Tensor idx_batch_cnt_tensor, at::Tensor out_tensor) {
+
+    CHECK_INPUT(features_tensor);
+    CHECK_INPUT(features_batch_cnt_tensor);
+    CHECK_INPUT(idx_tensor);
+    CHECK_INPUT(idx_batch_cnt_tensor);
+    CHECK_INPUT(out_tensor);
+
+    const float *features = features_tensor.data<float>();
+    const int *idx = idx_tensor.data<int>();
+    const int *features_batch_cnt = features_batch_cnt_tensor.data<int>();
+    const int *idx_batch_cnt = idx_batch_cnt_tensor.data<int>();
+    float *out = out_tensor.data<float>();
+
+    group_points_kernel_launcher_stack(B, M, C, nsample, features, features_batch_cnt, idx, idx_batch_cnt, out);
+    return 1;
+}