three_nn_cuda.cu

#include <math.h>
#include <stdio.h>
#include <stdlib.h>

#define THREADS_PER_BLOCK 256
#define DIVUP(m,n) ((m) / (n) + ((m) % (n) > 0))


__global__ void three_nn_kernel(int b, int n, int m, const float *__restrict__ unknown,
    const float *__restrict__ known, float *__restrict__ dist2, int *__restrict__ idx) {
    // unknown: (B, N, 3)
    // known: (B, M, 3)
    // output:
    //      dist2: (B, N, 3)
    //      idx: (B, N, 3)

    int bs_idx = blockIdx.y;
    int pt_idx = blockIdx.x * blockDim.x + threadIdx.x;
    if (bs_idx >= b || pt_idx >= n) return;

    unknown += bs_idx * n * 3 + pt_idx * 3;
    known += bs_idx * m * 3;
    dist2 += bs_idx * n * 3 + pt_idx * 3;
    idx += bs_idx * n * 3 + pt_idx * 3;

    float ux = unknown[0];
    float uy = unknown[1];
    float uz = unknown[2];

    double best1 = 1e40, best2 = 1e40, best3 = 1e40;
    int besti1 = 0, besti2 = 0, besti3 = 0;
    for (int k = 0; k < m; ++k) {
        float x = known[k * 3 + 0];
        float y = known[k * 3 + 1];
        float z = known[k * 3 + 2];
        float d = (ux - x) * (ux - x) + (uy - y) * (uy - y) + (uz - z) * (uz - z);
        if (d < best1) {
            best3 = best2; besti3 = besti2;
            best2 = best1; besti2 = besti1;
            best1 = d; besti1 = k;
        }
        else if (d < best2) {
            best3 = best2; besti3 = besti2;
            best2 = d; besti2 = k;
        }
        else if (d < best3) {
            best3 = d; besti3 = k;
        }
    }
    dist2[0] = best1; dist2[1] = best2; dist2[2] = best3;
    idx[0] = besti1; idx[1] = besti2; idx[2] = besti3;
}


void three_nn_kernel_launcher(int b, int n, int m, const float *unknown,
    const float *known, float *dist2, int *idx, cudaStream_t stream) {
    // unknown: (B, N, 3)
    // known: (B, M, 3)
    // output:
    //      dist2: (B, N, 3)
    //      idx: (B, N, 3)

    cudaError_t err;
    dim3 blocks(DIVUP(n, THREADS_PER_BLOCK), b);  // blockIdx.x(col), blockIdx.y(row)
    dim3 threads(THREADS_PER_BLOCK);

    three_nn_kernel<<<blocks, threads, 0, stream>>>(b, n, m, unknown, known, dist2, idx);

    err = cudaGetLastError();
    if (cudaSuccess != err) {
        fprintf(stderr, "CUDA kernel failed : %s\n", cudaGetErrorString(err));
        exit(-1);
    }
}