47 lines
1.3 KiB
C++
47 lines
1.3 KiB
C++
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// Modified from https://github.com/CVMI-Lab/PAConv/tree/main/scene_seg/lib/pointops/src/knnquery_heap
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#include <torch/serialize/tensor.h>
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#include <torch/extension.h>
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#include <vector>
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#include <THC/THC.h>
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#include <ATen/cuda/CUDAContext.h>
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extern THCState *state;
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#define CHECK_CUDA(x) TORCH_CHECK(x.is_cuda(), #x, " must be a CUDAtensor ")
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#define CHECK_CONTIGUOUS(x) TORCH_CHECK(x.is_contiguous(), #x, " must be contiguous ")
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#define CHECK_INPUT(x) CHECK_CUDA(x);CHECK_CONTIGUOUS(x)
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void knn_kernel_launcher(
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int b,
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int n,
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int m,
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int nsample,
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const float *xyz,
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const float *new_xyz,
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int *idx,
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float *dist2,
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cudaStream_t stream
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);
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void knn_wrapper(int b, int n, int m, int nsample, at::Tensor xyz_tensor, at::Tensor new_xyz_tensor, at::Tensor idx_tensor, at::Tensor dist2_tensor)
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{
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CHECK_INPUT(new_xyz_tensor);
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CHECK_INPUT(xyz_tensor);
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const float *new_xyz = new_xyz_tensor.data_ptr<float>();
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const float *xyz = xyz_tensor.data_ptr<float>();
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int *idx = idx_tensor.data_ptr<int>();
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float *dist2 = dist2_tensor.data_ptr<float>();
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cudaStream_t stream = at::cuda::getCurrentCUDAStream();
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knn_kernel_launcher(b, n, m, nsample, xyz, new_xyz, idx, dist2, stream);
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}
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PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {
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m.def("knn_wrapper", &knn_wrapper, "knn_wrapper");
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}
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