add mmdet3d op (#1425)

Co-authored-by: zhouzaida <zhouzaida@163.com>

mmcv/ops/knn.py

@@ -61,9 +61,11 @@ class KNN(Function):
         idx = center_xyz.new_zeros((B, npoint, k)).int()
         dist2 = center_xyz.new_zeros((B, npoint, k)).float()
 
-        ext_module.knn_forward(B, N, npoint, k, xyz, center_xyz, idx, dist2)
+        ext_module.knn_forward(
+            xyz, center_xyz, idx, dist2, b=B, n=N, m=npoint, nsample=k)
         # idx shape to [B, k, npoint]
         idx = idx.transpose(2, 1).contiguous()
+        if torch.__version__ != 'parrots':
             ctx.mark_non_differentiable(idx)
         return idx
 

mmcv/ops/three_interpolate.py

@@ -39,8 +39,8 @@ class ThreeInterpolate(Function):
         ctx.three_interpolate_for_backward = (indices, weight, m)
         output = torch.cuda.FloatTensor(B, c, n)
 
-        ext_module.three_interpolate_forward(B, c, m, n, features, indices,
-                                             weight, output)
+        ext_module.three_interpolate_forward(
+            features, indices, weight, output, b=B, c=c, m=m, n=n)
         return output
 
     @staticmethod
@@ -60,8 +60,8 @@ class ThreeInterpolate(Function):
         grad_features = torch.cuda.FloatTensor(B, c, m).zero_()
         grad_out_data = grad_out.data.contiguous()
 
-        ext_module.three_interpolate_backward(B, c, n, m, grad_out_data, idx,
-                                              weight, grad_features.data)
+        ext_module.three_interpolate_backward(
+            grad_out_data, idx, weight, grad_features.data, b=B, c=c, n=n, m=m)
         return grad_features, None, None
 
 

mmcv/ops/three_nn.py

@@ -37,8 +37,8 @@ class ThreeNN(Function):
         dist2 = torch.cuda.FloatTensor(B, N, 3)
         idx = torch.cuda.IntTensor(B, N, 3)
 
-        ext_module.three_nn_forward(B, N, m, target, source, dist2, idx)
-
+        ext_module.three_nn_forward(target, source, dist2, idx, b=B, n=N, m=m)
+        if torch.__version__ != 'parrots':
             ctx.mark_non_differentiable(idx)
 
         return torch.sqrt(dist2), idx