Add File

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

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+#include <torch/serialize/tensor.h>
+#include <ATen/cuda/CUDAContext.h>
+#include <vector>
+#include "sampling_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 farthest_point_sampling_wrapper(int b, int n, int m,
+    at::Tensor points_tensor, at::Tensor temp_tensor, at::Tensor idx_tensor) {
+
+    CHECK_INPUT(points_tensor);
+    CHECK_INPUT(temp_tensor);
+    CHECK_INPUT(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;
+}
+
+
+int stack_farthest_point_sampling_wrapper(at::Tensor points_tensor,
+  at::Tensor temp_tensor, at::Tensor xyz_batch_cnt_tensor, at::Tensor idx_tensor,
+  at::Tensor num_sampled_points_tensor) {
+
+    CHECK_INPUT(points_tensor);
+    CHECK_INPUT(temp_tensor);
+    CHECK_INPUT(idx_tensor);
+    CHECK_INPUT(xyz_batch_cnt_tensor);
+    CHECK_INPUT(num_sampled_points_tensor);
+
+    int batch_size = xyz_batch_cnt_tensor.size(0);
+    int N = points_tensor.size(0);
+    const float *points = points_tensor.data<float>();
+    float *temp = temp_tensor.data<float>();
+    int *xyz_batch_cnt = xyz_batch_cnt_tensor.data<int>();
+    int *idx = idx_tensor.data<int>();
+    int *num_sampled_points = num_sampled_points_tensor.data<int>();
+
+    stack_farthest_point_sampling_kernel_launcher(N, batch_size, points, temp, xyz_batch_cnt, idx, num_sampled_points);
+    return 1;
+}