ball_query.cpp

#include <torch/serialize/tensor.h>
#include <vector>
#include <THC/THC.h>
#include <cuda.h>
#include <cuda_runtime_api.h>
#include <torch/extension.h>

extern THCState *state;

#define CHECK_CUDA(x) AT_CHECK(x.type().is_cuda(), #x, " must be a CUDAtensor ")
#define CHECK_CONTIGUOUS(x) AT_CHECK(x.is_contiguous(), #x, " must be contiguous ")
#define CHECK_INPUT(x) CHECK_CUDA(x);CHECK_CONTIGUOUS(x)

int ball_query_wrapper(int b, int n, int m, float radius, int nsample,
	at::Tensor new_xyz_tensor, at::Tensor xyz_tensor, at::Tensor idx_tensor);

void ball_query_kernel_launcher(int b, int n, int m, float radius, int nsample,
	const float *xyz, const float *new_xyz, int *idx, cudaStream_t stream);


int ball_query_wrapper(int b, int n, int m, float radius, int nsample,
    at::Tensor new_xyz_tensor, at::Tensor xyz_tensor, at::Tensor idx_tensor) {
    CHECK_INPUT(new_xyz_tensor);
    CHECK_INPUT(xyz_tensor);
    const float *new_xyz = new_xyz_tensor.data<float>();
    const float *xyz = xyz_tensor.data<float>();
    int *idx = idx_tensor.data<int>();

    cudaStream_t stream = THCState_getCurrentStream(state);
    ball_query_kernel_launcher(b, n, m, radius, nsample, new_xyz, xyz, idx, stream);
    return 1;
}


PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {
    m.def("ball_query_wrapper", &ball_query_wrapper, "ball_query_wrapper");
}