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#include "sampling.h"
#include "utils.h"
void gather_points_kernel_wrapper(int b, int c, int n, int npoints,
const float *points, const int *idx,
float *out);
void gather_points_grad_kernel_wrapper(int b, int c, int n, int npoints,
const float *grad_out, const int *idx,
float *grad_points);
void furthest_point_sampling_kernel_wrapper(int b, int n, int m,
const float *dataset, float *temp,
int *idxs);
at::Tensor gather_points(at::Tensor points, at::Tensor idx) {
CHECK_CONTIGUOUS(points);
CHECK_CONTIGUOUS(idx);
CHECK_IS_FLOAT(points);
CHECK_IS_INT(idx);
if (points.is_cuda()) {
CHECK_CUDA(idx);
}
at::Tensor output =
torch::zeros({points.size(0), points.size(1), idx.size(1)},
at::device(points.device()).dtype(at::ScalarType::Float));
if (points.is_cuda()) {
gather_points_kernel_wrapper(points.size(0), points.size(1), points.size(2),
idx.size(1), points.data_ptr<float>(),
idx.data_ptr<int>(), output.data_ptr<float>());
} else {
AT_ASSERT(false, "CPU not supported");
}
return output;
}
at::Tensor gather_points_grad(at::Tensor grad_out, at::Tensor idx,
const int n) {
CHECK_CONTIGUOUS(grad_out);
CHECK_CONTIGUOUS(idx);
CHECK_IS_FLOAT(grad_out);
CHECK_IS_INT(idx);
if (grad_out.is_cuda()) {
CHECK_CUDA(idx);
}
at::Tensor output =
torch::zeros({grad_out.size(0), grad_out.size(1), n},
at::device(grad_out.device()).dtype(at::ScalarType::Float));
if (grad_out.is_cuda()) {
gather_points_grad_kernel_wrapper(grad_out.size(0), grad_out.size(1), n,
idx.size(1), grad_out.data_ptr<float>(),
idx.data_ptr<int>(),
output.data_ptr<float>());
} else {
AT_ASSERT(false, "CPU not supported");
}
return output;
}
at::Tensor furthest_point_sampling(at::Tensor points, const int nsamples) {
CHECK_CONTIGUOUS(points);
CHECK_IS_FLOAT(points);
at::Tensor output =
torch::zeros({points.size(0), nsamples},
at::device(points.device()).dtype(at::ScalarType::Int));
at::Tensor tmp =
torch::full({points.size(0), points.size(1)}, 1e10,
at::device(points.device()).dtype(at::ScalarType::Float));
if (points.is_cuda()) {
furthest_point_sampling_kernel_wrapper(
points.size(0), points.size(1), nsamples, points.data_ptr<float>(),
tmp.data_ptr<float>(), output.data_ptr<int>());
} else {
AT_ASSERT(false, "CPU not supported");
}
return output;
}
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