Add File

pcdet/ops/ingroup_inds/src/ingroup_inds.cpp

@@ -0,0 +1,54 @@
+#include <assert.h>
+#include <torch/extension.h>
+#include <torch/serialize/tensor.h>
+#include <vector>
+
+#define CHECK_CUDA(x) \
+  TORCH_CHECK(x.device().is_cuda(), #x, " must be a CUDAtensor ")
+#define CHECK_CONTIGUOUS(x) \
+  TORCH_CHECK(x.is_contiguous(), #x, " must be contiguous ")
+#define CHECK_INPUT(x) \
+  CHECK_CUDA(x);       \
+  CHECK_CONTIGUOUS(x)
+
+
+void ingroup_inds_launcher(
+    const long *group_inds_data,
+    long *out_inds_data,
+    int N,
+    int max_group_id
+);
+
+
+void ingroup_inds_gpu(
+  at::Tensor group_inds,
+  at::Tensor out_inds
+);
+
+void ingroup_inds_gpu(
+  at::Tensor group_inds,
+  at::Tensor out_inds
+) {
+
+  CHECK_INPUT(group_inds);
+  CHECK_INPUT(out_inds);
+  int N = group_inds.size(0);
+  int max_group_id = group_inds.max().item().toLong();
+
+
+  long *group_inds_data = group_inds.data_ptr<long>();
+  long *out_inds_data = out_inds.data_ptr<long>();
+
+  ingroup_inds_launcher(
+      group_inds_data,
+      out_inds_data,
+      N,
+      max_group_id
+  );
+
+}
+
+
+PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {
+  m.def("forward", &ingroup_inds_gpu, "cuda version of get_inner_win_inds of SST");
+}