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