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Commit e0d892c7 authored by liyinhao's avatar liyinhao
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Merge branch 'master_temp' into indoor_loading 

# Conflicts:
#	tools/data_converter/sunrgbd_data_utils.py
parents 929ebfe8 f584b970
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mmdet3d/ops/roiaware_pool3d/src/points_in_boxes_cuda.cu
View file @ e0d892c7
//Modified from
//https://github.com/sshaoshuai/PCDet/blob/master/pcdet/ops/roiaware_pool3d/src/roiaware_pool3d_kernel.cu
//Points in boxes gpu
//Written by Shaoshuai Shi
//All Rights Reserved 2019.
// Modified from
// https://github.com/sshaoshuai/PCDet/blob/master/pcdet/ops/roiaware_pool3d/src/roiaware_pool3d_kernel.cu
// Points in boxes gpu
// Written by Shaoshuai Shi
// All Rights Reserved 2019.
#include <torch/serialize/tensor.h>
#include <torch/extension.h>
#include <assert.h>
#include <math.h>
#include <stdio.h>
#include <torch/extension.h>
#include <torch/serialize/tensor.h>
#define THREADS_PER_BLOCK 256
#define DIVUP(m,n) ((m) / (n) + ((m) % (n) > 0))
#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)
#define DIVUP(m, n) ((m) / (n) + ((m) % (n) > 0))
#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)
// #define DEBUG
__device__ inline void lidar_to_local_coords(float shift_x, float shift_y, float rz, float &local_x, float &local_y){
__device__ inline void lidar_to_local_coords(float shift_x, float shift_y,
float rz, float &local_x,
float &local_y) {
// should rotate pi/2 + alpha to translate LiDAR to local
float rot_angle = rz + M_PI / 2;
float cosa = cos(rot_angle), sina = sin(rot_angle);
......@@ -29,10 +32,11 @@ __device__ inline void lidar_to_local_coords(float shift_x, float shift_y, float
local_y = shift_x * sina + shift_y * cosa;
}
__device__ inline int check_pt_in_box3d(const float *pt, const float *box3d, float &local_x, float &local_y){
__device__ inline int check_pt_in_box3d(const float *pt, const float *box3d,
float &local_x, float &local_y) {
// param pt: (x, y, z)
// param box3d: (cx, cy, cz, w, l, h, rz) in LiDAR coordinate, cz in the bottom center
// param box3d: (cx, cy, cz, w, l, h, rz) in LiDAR coordinate, cz in the
// bottom center
float x = pt[0], y = pt[1], z = pt[2];
float cx = box3d[0], cy = box3d[1], cz = box3d[2];
float w = box3d[3], l = box3d[4], h = box3d[5], rz = box3d[6];
......@@ -40,16 +44,19 @@ __device__ inline int check_pt_in_box3d(const float *pt, const float *box3d, flo
if (fabsf(z - cz) > h / 2.0) return 0;
lidar_to_local_coords(x - cx, y - cy, rz, local_x, local_y);
float in_flag = (local_x > -l / 2.0) & (local_x < l / 2.0) & (local_y > -w / 2.0) & (local_y < w / 2.0);
float in_flag = (local_x > -l / 2.0) & (local_x < l / 2.0) &
(local_y > -w / 2.0) & (local_y < w / 2.0);
return in_flag;
}
__global__ void points_in_boxes_kernel(int batch_size, int boxes_num, int pts_num, const float *boxes,
const float *pts, int *box_idx_of_points){
// params boxes: (B, N, 7) [x, y, z, w, l, h, rz] in LiDAR coordinate, z is the bottom center, each box DO NOT overlaps
// params pts: (B, npoints, 3) [x, y, z] in LiDAR coordinate
// params boxes_idx_of_points: (B, npoints), default -1
__global__ void points_in_boxes_kernel(int batch_size, int boxes_num,
int pts_num, const float *boxes,
const float *pts,
int *box_idx_of_points) {
// params boxes: (B, N, 7) [x, y, z, w, l, h, rz] in LiDAR coordinate, z is
// the bottom center, each box DO NOT overlaps params pts: (B, npoints, 3) [x,
// y, z] in LiDAR coordinate params boxes_idx_of_points: (B, npoints), default
// -1
int bs_idx = blockIdx.y;
int pt_idx = blockIdx.x * blockDim.x + threadIdx.x;
......@@ -61,26 +68,28 @@ __global__ void points_in_boxes_kernel(int batch_size, int boxes_num, int pts_nu
float local_x = 0, local_y = 0;
int cur_in_flag = 0;
for (int k = 0; k < boxes_num; k++){
for (int k = 0; k < boxes_num; k++) {
cur_in_flag = check_pt_in_box3d(pts, boxes + k * 7, local_x, local_y);
if (cur_in_flag){
if (cur_in_flag) {
box_idx_of_points[0] = k;
break;
}
}
}
void points_in_boxes_launcher(int batch_size, int boxes_num, int pts_num, const float *boxes,
const float *pts, int *box_idx_of_points){
// params boxes: (B, N, 7) [x, y, z, w, l, h, rz] in LiDAR coordinate, z is the bottom center, each box DO NOT overlaps
// params pts: (B, npoints, 3) [x, y, z] in LiDAR coordinate
// params boxes_idx_of_points: (B, npoints), default -1
void points_in_boxes_launcher(int batch_size, int boxes_num, int pts_num,
const float *boxes, const float *pts,
int *box_idx_of_points) {
// params boxes: (B, N, 7) [x, y, z, w, l, h, rz] in LiDAR coordinate, z is
// the bottom center, each box DO NOT overlaps params pts: (B, npoints, 3) [x,
// y, z] in LiDAR coordinate params boxes_idx_of_points: (B, npoints), default
// -1
cudaError_t err;
dim3 blocks(DIVUP(pts_num, THREADS_PER_BLOCK), batch_size);
dim3 threads(THREADS_PER_BLOCK);
points_in_boxes_kernel<<<blocks, threads>>>(batch_size, boxes_num, pts_num, boxes, pts, box_idx_of_points);
points_in_boxes_kernel<<<blocks, threads>>>(batch_size, boxes_num, pts_num,
boxes, pts, box_idx_of_points);
err = cudaGetLastError();
if (cudaSuccess != err) {
......@@ -93,10 +102,12 @@ void points_in_boxes_launcher(int batch_size, int boxes_num, int pts_num, const
#endif
}
int points_in_boxes_gpu(at::Tensor boxes_tensor, at::Tensor pts_tensor, at::Tensor box_idx_of_points_tensor){
// params boxes: (B, N, 7) [x, y, z, w, l, h, rz] in LiDAR coordinate, z is the bottom center, each box DO NOT overlaps
// params pts: (B, npoints, 3) [x, y, z] in LiDAR coordinate
// params boxes_idx_of_points: (B, npoints), default -1
int points_in_boxes_gpu(at::Tensor boxes_tensor, at::Tensor pts_tensor,
at::Tensor box_idx_of_points_tensor) {
// params boxes: (B, N, 7) [x, y, z, w, l, h, rz] in LiDAR coordinate, z is
// the bottom center, each box DO NOT overlaps params pts: (B, npoints, 3) [x,
// y, z] in LiDAR coordinate params boxes_idx_of_points: (B, npoints), default
// -1
CHECK_INPUT(boxes_tensor);
CHECK_INPUT(pts_tensor);
......@@ -106,11 +117,12 @@ int points_in_boxes_gpu(at::Tensor boxes_tensor, at::Tensor pts_tensor, at::Tens
int boxes_num = boxes_tensor.size(1);
int pts_num = pts_tensor.size(1);
const float *boxes = boxes_tensor.data<float>();
const float *pts = pts_tensor.data<float>();
int *box_idx_of_points = box_idx_of_points_tensor.data<int>();
const float *boxes = boxes_tensor.data_ptr<float>();
const float *pts = pts_tensor.data_ptr<float>();
int *box_idx_of_points = box_idx_of_points_tensor.data_ptr<int>();
points_in_boxes_launcher(batch_size, boxes_num, pts_num, boxes, pts, box_idx_of_points);
points_in_boxes_launcher(batch_size, boxes_num, pts_num, boxes, pts,
box_idx_of_points);
return 1;
}
mmdet3d/ops/roiaware_pool3d/src/roiaware_pool3d.cpp
View file @ e0d892c7
//Modified from
//https://github.com/sshaoshuai/PCDet/blob/master/pcdet/ops/roiaware_pool3d/src/roiaware_pool3d_kernel.cu
//RoI-aware point cloud feature pooling
//Written by Shaoshuai Shi
//All Rights Reserved 2019.
// Modified from
// https://github.com/sshaoshuai/PCDet/blob/master/pcdet/ops/roiaware_pool3d/src/roiaware_pool3d_kernel.cu
// RoI-aware point cloud feature pooling
// Written by Shaoshuai Shi
// All Rights Reserved 2019.
#include <torch/serialize/tensor.h>
#include <torch/extension.h>
#include <assert.h>
#include <torch/extension.h>
#include <torch/serialize/tensor.h>
#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)
void roiaware_pool3d_launcher(int boxes_num, int pts_num, int channels, int max_pts_each_voxel,
int out_x, int out_y, int out_z, const float *rois, const float *pts, const float *pts_feature,
int *argmax, int *pts_idx_of_voxels, float *pooled_features, int pool_method);
void roiaware_pool3d_backward_launcher(int boxes_num, int out_x, int out_y, int out_z, int channels, int max_pts_each_voxel,
const int *pts_idx_of_voxels, const int *argmax, const float *grad_out, float *grad_in, int pool_method);
int roiaware_pool3d_gpu(at::Tensor rois, at::Tensor pts, at::Tensor pts_feature, at::Tensor argmax,
at::Tensor pts_idx_of_voxels, at::Tensor pooled_features, int pool_method);
int roiaware_pool3d_gpu_backward(at::Tensor pts_idx_of_voxels, at::Tensor argmax, at::Tensor grad_out,
#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 roiaware_pool3d_launcher(int boxes_num, int pts_num, int channels,
int max_pts_each_voxel, int out_x, int out_y,
int out_z, const float *rois, const float *pts,
const float *pts_feature, int *argmax,
int *pts_idx_of_voxels, float *pooled_features,
int pool_method);
void roiaware_pool3d_backward_launcher(int boxes_num, int out_x, int out_y,
int out_z, int channels,
int max_pts_each_voxel,
const int *pts_idx_of_voxels,
const int *argmax, const float *grad_out,
float *grad_in, int pool_method);
int roiaware_pool3d_gpu(at::Tensor rois, at::Tensor pts, at::Tensor pts_feature,
at::Tensor argmax, at::Tensor pts_idx_of_voxels,
at::Tensor pooled_features, int pool_method);
int roiaware_pool3d_gpu_backward(at::Tensor pts_idx_of_voxels,
at::Tensor argmax, at::Tensor grad_out,
at::Tensor grad_in, int pool_method);
int points_in_boxes_cpu(at::Tensor boxes_tensor, at::Tensor pts_tensor, at::Tensor pts_indices_tensor);
int points_in_boxes_gpu(at::Tensor boxes_tensor, at::Tensor pts_tensor, at::Tensor box_idx_of_points_tensor);
int points_in_boxes_cpu(at::Tensor boxes_tensor, at::Tensor pts_tensor,
at::Tensor pts_indices_tensor);
int points_in_boxes_gpu(at::Tensor boxes_tensor, at::Tensor pts_tensor,
at::Tensor box_idx_of_points_tensor);
int roiaware_pool3d_gpu(at::Tensor rois, at::Tensor pts, at::Tensor pts_feature, at::Tensor argmax, at::Tensor pts_idx_of_voxels, at::Tensor pooled_features, int pool_method){
int roiaware_pool3d_gpu(at::Tensor rois, at::Tensor pts, at::Tensor pts_feature,
at::Tensor argmax, at::Tensor pts_idx_of_voxels,
at::Tensor pooled_features, int pool_method) {
// params rois: (N, 7) [x, y, z, w, l, h, ry] in LiDAR coordinate
// params pts: (npoints, 3) [x, y, z] in LiDAR coordinate
// params pts_feature: (npoints, C)
......@@ -56,22 +69,27 @@ int roiaware_pool3d_gpu(at::Tensor rois, at::Tensor pts, at::Tensor pts_feature,
int out_x = pts_idx_of_voxels.size(1);
int out_y = pts_idx_of_voxels.size(2);
int out_z = pts_idx_of_voxels.size(3);
assert ((out_x < 256) && (out_y < 256) && (out_z < 256)); // we encode index with 8bit
assert((out_x < 256) && (out_y < 256) &&
(out_z < 256)); // we encode index with 8bit
const float *rois_data = rois.data<float>();
const float *pts_data = pts.data<float>();
const float *pts_feature_data = pts_feature.data<float>();
int *argmax_data = argmax.data<int>();
int *pts_idx_of_voxels_data = pts_idx_of_voxels.data<int>();
float *pooled_features_data = pooled_features.data<float>();
const float *rois_data = rois.data_ptr<float>();
const float *pts_data = pts.data_ptr<float>();
const float *pts_feature_data = pts_feature.data_ptr<float>();
int *argmax_data = argmax.data_ptr<int>();
int *pts_idx_of_voxels_data = pts_idx_of_voxels.data_ptr<int>();
float *pooled_features_data = pooled_features.data_ptr<float>();
roiaware_pool3d_launcher(boxes_num, pts_num, channels, max_pts_each_voxel, out_x, out_y, out_z,
rois_data, pts_data, pts_feature_data, argmax_data, pts_idx_of_voxels_data, pooled_features_data, pool_method);
roiaware_pool3d_launcher(
boxes_num, pts_num, channels, max_pts_each_voxel, out_x, out_y, out_z,
rois_data, pts_data, pts_feature_data, argmax_data,
pts_idx_of_voxels_data, pooled_features_data, pool_method);
return 1;
}
int roiaware_pool3d_gpu_backward(at::Tensor pts_idx_of_voxels, at::Tensor argmax, at::Tensor grad_out, at::Tensor grad_in, int pool_method){
int roiaware_pool3d_gpu_backward(at::Tensor pts_idx_of_voxels,
at::Tensor argmax, at::Tensor grad_out,
at::Tensor grad_in, int pool_method) {
// params pts_idx_of_voxels: (N, out_x, out_y, out_z, max_pts_each_voxel)
// params argmax: (N, out_x, out_y, out_z, C)
// params grad_out: (N, out_x, out_y, out_z, C)
......@@ -90,20 +108,25 @@ int roiaware_pool3d_gpu_backward(at::Tensor pts_idx_of_voxels, at::Tensor argmax
int max_pts_each_voxel = pts_idx_of_voxels.size(4); // index 0 is the counter
int channels = grad_out.size(4);
const int *pts_idx_of_voxels_data = pts_idx_of_voxels.data<int>();
const int *argmax_data = argmax.data<int>();
const float *grad_out_data = grad_out.data<float>();
float *grad_in_data = grad_in.data<float>();
const int *pts_idx_of_voxels_data = pts_idx_of_voxels.data_ptr<int>();
const int *argmax_data = argmax.data_ptr<int>();
const float *grad_out_data = grad_out.data_ptr<float>();
float *grad_in_data = grad_in.data_ptr<float>();
roiaware_pool3d_backward_launcher(boxes_num, out_x, out_y, out_z, channels, max_pts_each_voxel,
pts_idx_of_voxels_data, argmax_data, grad_out_data, grad_in_data, pool_method);
roiaware_pool3d_backward_launcher(boxes_num, out_x, out_y, out_z, channels,
max_pts_each_voxel, pts_idx_of_voxels_data,
argmax_data, grad_out_data, grad_in_data,
pool_method);
return 1;
}
PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {
m.def("forward", &roiaware_pool3d_gpu, "roiaware pool3d forward (CUDA)");
m.def("backward", &roiaware_pool3d_gpu_backward, "roiaware pool3d backward (CUDA)");
m.def("points_in_boxes_gpu", &points_in_boxes_gpu, "points_in_boxes_gpu forward (CUDA)");
m.def("points_in_boxes_cpu", &points_in_boxes_cpu, "points_in_boxes_cpu forward (CPU)");
m.def("backward", &roiaware_pool3d_gpu_backward,
"roiaware pool3d backward (CUDA)");
m.def("points_in_boxes_gpu", &points_in_boxes_gpu,
"points_in_boxes_gpu forward (CUDA)");
m.def("points_in_boxes_cpu", &points_in_boxes_cpu,
"points_in_boxes_cpu forward (CPU)");
}
mmdet3d/ops/sparse_block.py 0 → 100644
View file @ e0d892c7
from mmcv.cnn import build_norm_layer
from torch import nn
import mmdet3d.ops.spconv as spconv
from mmdet.models.backbones.resnet import BasicBlock, Bottleneck
def conv3x3(in_planes, out_planes, stride=1, indice_key=None):
"""3x3 submanifold sparse convolution with padding.
Args:
in_planes (int): the number of input channels
out_planes (int): the number of output channels
stride (int): the stride of convolution
indice_key (str): the indice key used for sparse tensor
Returns:
spconv.conv.SubMConv3d: 3x3 submanifold sparse convolution ops
"""
# TODO: deprecate this class
return spconv.SubMConv3d(
in_planes,
out_planes,
kernel_size=3,
stride=stride,
padding=1,
bias=False,
indice_key=indice_key)
def conv1x1(in_planes, out_planes, stride=1, indice_key=None):
"""1x1 submanifold sparse convolution with padding.
Args:
in_planes (int): the number of input channels
out_planes (int): the number of output channels
stride (int): the stride of convolution
indice_key (str): the indice key used for sparse tensor
Returns:
spconv.conv.SubMConv3d: 1x1 submanifold sparse convolution ops
"""
# TODO: deprecate this class
return spconv.SubMConv3d(
in_planes,
out_planes,
kernel_size=1,
stride=stride,
padding=1,
bias=False,
indice_key=indice_key)
class SparseBasicBlockV0(spconv.SparseModule):
expansion = 1
def __init__(self,
inplanes,
planes,
stride=1,
downsample=None,
indice_key=None,
norm_cfg=None):
"""Sparse basic block for PartA^2.
Sparse basic block implemented with submanifold sparse convolution.
"""
# TODO: deprecate this class
super().__init__()
self.conv1 = conv3x3(inplanes, planes, stride, indice_key=indice_key)
norm_name1, norm_layer1 = build_norm_layer(norm_cfg, planes)
self.bn1 = norm_layer1
self.relu = nn.ReLU()
self.conv2 = conv3x3(planes, planes, indice_key=indice_key)
norm_name2, norm_layer2 = build_norm_layer(norm_cfg, planes)
self.bn2 = norm_layer2
self.downsample = downsample
self.stride = stride
def forward(self, x):
identity = x.features
assert x.features.dim() == 2, f'x.features.dim()={x.features.dim()}'
out = self.conv1(x)
out.features = self.bn1(out.features)
out.features = self.relu(out.features)
out = self.conv2(out)
out.features = self.bn2(out.features)
if self.downsample is not None:
identity = self.downsample(x)
out.features += identity
out.features = self.relu(out.features)
return out
class SparseBottleneckV0(spconv.SparseModule):
expansion = 4
def __init__(self,
inplanes,
planes,
stride=1,
downsample=None,
indice_key=None,
norm_fn=None):
"""Sparse bottleneck block for PartA^2.
Bottleneck block implemented with submanifold sparse convolution.
"""
# TODO: deprecate this class
super().__init__()
self.conv1 = conv1x1(inplanes, planes, indice_key=indice_key)
self.bn1 = norm_fn(planes)
self.conv2 = conv3x3(planes, planes, stride, indice_key=indice_key)
self.bn2 = norm_fn(planes)
self.conv3 = conv1x1(
planes, planes * self.expansion, indice_key=indice_key)
self.bn3 = norm_fn(planes * self.expansion)
self.relu = nn.ReLU()
self.downsample = downsample
self.stride = stride
def forward(self, x):
identity = x.features
out = self.conv1(x)
out.features = self.bn1(out.features)
out.features = self.relu(out.features)
out = self.conv2(out)
out.features = self.bn2(out.features)
out.features = self.relu(out.features)
out = self.conv3(out)
out.features = self.bn3(out.features)
if self.downsample is not None:
identity = self.downsample(x)
out.features += identity
out.features = self.relu(out.features)
return out
class SparseBottleneck(Bottleneck, spconv.SparseModule):
expansion = 4
def __init__(self,
inplanes,
planes,
stride=1,
downsample=None,
conv_cfg=None,
norm_cfg=None):
"""Sparse bottleneck block for PartA^2.
Bottleneck block implemented with submanifold sparse convolution.
"""
spconv.SparseModule.__init__(self)
Bottleneck.__init__(
self,
inplanes,
planes,
stride=stride,
downsample=downsample,
conv_cfg=conv_cfg,
norm_cfg=norm_cfg)
def forward(self, x):
identity = x.features
out = self.conv1(x)
out.features = self.bn1(out.features)
out.features = self.relu(out.features)
out = self.conv2(out)
out.features = self.bn2(out.features)
out.features = self.relu(out.features)
out = self.conv3(out)
out.features = self.bn3(out.features)
if self.downsample is not None:
identity = self.downsample(x)
out.features += identity
out.features = self.relu(out.features)
return out
class SparseBasicBlock(BasicBlock, spconv.SparseModule):
expansion = 1
def __init__(self,
inplanes,
planes,
stride=1,
downsample=None,
conv_cfg=None,
norm_cfg=None):
"""Sparse basic block for PartA^2.
Sparse basic block implemented with submanifold sparse convolution.
"""
spconv.SparseModule.__init__(self)
BasicBlock.__init__(
self,
inplanes,
planes,
stride=stride,
downsample=downsample,
conv_cfg=conv_cfg,
norm_cfg=norm_cfg)
def forward(self, x):
identity = x.features
assert x.features.dim() == 2, f'x.features.dim()={x.features.dim()}'
out = self.conv1(x)
out.features = self.norm1(out.features)
out.features = self.relu(out.features)
out = self.conv2(out)
out.features = self.norm2(out.features)
if self.downsample is not None:
identity = self.downsample(x)
out.features += identity
out.features = self.relu(out.features)
return out
mmdet3d/ops/spconv/conv.py
View file @ e0d892c7
......@@ -16,6 +16,7 @@ import math
import numpy as np
import torch
from mmcv.cnn import CONV_LAYERS
from torch.nn import init
from torch.nn.parameter import Parameter
......@@ -205,6 +206,7 @@ class SparseConvolution(SparseModule):
return out_tensor
@CONV_LAYERS.register_module()
class SparseConv2d(SparseConvolution):
def __init__(self,
......@@ -230,6 +232,7 @@ class SparseConv2d(SparseConvolution):
indice_key=indice_key)
@CONV_LAYERS.register_module()
class SparseConv3d(SparseConvolution):
def __init__(self,
......@@ -255,6 +258,7 @@ class SparseConv3d(SparseConvolution):
indice_key=indice_key)
@CONV_LAYERS.register_module()
class SparseConv4d(SparseConvolution):
def __init__(self,
......@@ -280,6 +284,7 @@ class SparseConv4d(SparseConvolution):
indice_key=indice_key)
@CONV_LAYERS.register_module()
class SparseConvTranspose2d(SparseConvolution):
def __init__(self,
......@@ -306,6 +311,7 @@ class SparseConvTranspose2d(SparseConvolution):
indice_key=indice_key)
@CONV_LAYERS.register_module()
class SparseConvTranspose3d(SparseConvolution):
def __init__(self,
......@@ -332,6 +338,7 @@ class SparseConvTranspose3d(SparseConvolution):
indice_key=indice_key)
@CONV_LAYERS.register_module()
class SparseInverseConv2d(SparseConvolution):
def __init__(self,
......@@ -350,6 +357,7 @@ class SparseInverseConv2d(SparseConvolution):
indice_key=indice_key)
@CONV_LAYERS.register_module()
class SparseInverseConv3d(SparseConvolution):
def __init__(self,
......@@ -368,6 +376,7 @@ class SparseInverseConv3d(SparseConvolution):
indice_key=indice_key)
@CONV_LAYERS.register_module()
class SubMConv2d(SparseConvolution):
def __init__(self,
......@@ -394,6 +403,7 @@ class SubMConv2d(SparseConvolution):
indice_key=indice_key)
@CONV_LAYERS.register_module()
class SubMConv3d(SparseConvolution):
def __init__(self,
......@@ -420,6 +430,7 @@ class SubMConv3d(SparseConvolution):
indice_key=indice_key)
@CONV_LAYERS.register_module()
class SubMConv4d(SparseConvolution):
def __init__(self,
......
mmdet3d/ops/spconv/include/spconv/pool_ops.h
View file @ e0d892c7
......@@ -34,7 +34,7 @@ torch::Tensor indiceMaxPool(torch::Tensor features, torch::Tensor indicePairs,
torch::Tensor output = torch::zeros({numAct, numInPlanes}, options);
double totalTime = 0;
for (int i = 0; i < kernelVolume; ++i) {
auto nHot = indicePairNumCpu.data<int>()[i];
auto nHot = indicePairNumCpu.data_ptr<int>()[i];
if (nHot <= 0) {
continue;
}
......@@ -60,7 +60,8 @@ torch::Tensor indiceMaxPool(torch::Tensor features, torch::Tensor indicePairs,
template <typename T>
torch::Tensor indiceMaxPoolBackward(torch::Tensor features,
torch::Tensor outFeatures,
torch::Tensor outGrad, torch::Tensor indicePairs,
torch::Tensor outGrad,
torch::Tensor indicePairs,
torch::Tensor indiceNum) {
auto device = features.device().type();
auto numInPlanes = features.size(1);
......@@ -70,7 +71,7 @@ torch::Tensor indiceMaxPoolBackward(torch::Tensor features,
torch::Tensor inputGrad = torch::zeros(features.sizes(), options);
auto kernelVolume = indicePairs.size(0);
for (int i = 0; i < kernelVolume; ++i) {
auto nHot = indicePairNumCpu.data<int>()[i];
auto nHot = indicePairNumCpu.data_ptr<int>()[i];
if (nHot <= 0) {
continue;
}
......
mmdet3d/ops/spconv/include/torch_utils.h
View file @ e0d892c7
......@@ -13,20 +13,21 @@
// limitations under the License.
#pragma once
#include <tensorview/tensorview.h>
#include <torch/script.h>
#include <ATen/ATen.h>
#include <ATen/cuda/CUDAContext.h>
#include <tensorview/tensorview.h>
#include <torch/script.h>
namespace tv {
struct TorchGPU: public tv::GPU {
struct TorchGPU : public tv::GPU {
virtual cudaStream_t getStream() const override {
return at::cuda::getCurrentCUDAStream();
}
};
template <typename T> void check_torch_dtype(const torch::Tensor &tensor) {
template <typename T>
void check_torch_dtype(const torch::Tensor &tensor) {
switch (tensor.type().scalarType()) {
case at::ScalarType::Double: {
auto val = std::is_same<std::remove_const_t<T>, double>::value;
......@@ -65,6 +66,6 @@ tv::TensorView<T> torch2tv(const torch::Tensor &tensor) {
for (auto i : tensor.sizes()) {
shape.push_back(i);
}
return tv::TensorView<T>(tensor.data<std::remove_const_t<T>>(), shape);
return tv::TensorView<T>(tensor.data_ptr<std::remove_const_t<T>>(), shape);
}
} // namespace tv
mmdet3d/ops/voxel/src/scatter_points_cuda.cu
View file @ e0d892c7
......@@ -6,7 +6,7 @@
#include <ATen/cuda/CUDAApplyUtils.cuh>
#define CHECK_CUDA(x) \
TORCH_CHECK(x.type().is_cuda(), #x " must be a CUDA tensor")
TORCH_CHECK(x.device().is_cuda(), #x " must be a CUDA tensor")
#define CHECK_CONTIGUOUS(x) \
TORCH_CHECK(x.is_contiguous(), #x " must be contiguous")
#define CHECK_INPUT(x) \
......@@ -177,7 +177,7 @@ std::vector<at::Tensor> dynamic_point_to_voxel_forward_gpu(
dim3 threads(threadsPerBlock);
cudaStream_t map_stream = at::cuda::getCurrentCUDAStream();
AT_DISPATCH_ALL_TYPES(
voxel_mapping.type(), "determin_duplicate", ([&] {
voxel_mapping.scalar_type(), "determin_duplicate", ([&] {
point_to_voxelidx_kernel<int><<<blocks, threads, 0, map_stream>>>(
voxel_mapping.data_ptr<int>(), point_to_voxelidx.data_ptr<int>(),
point_to_pointidx.data_ptr<int>(), num_points, NDim);
......@@ -203,7 +203,7 @@ std::vector<at::Tensor> dynamic_point_to_voxel_forward_gpu(
voxel_mapping.options()); // must be zero from the begining
cudaStream_t logic_stream = at::cuda::getCurrentCUDAStream();
AT_DISPATCH_ALL_TYPES(
voxel_mapping.type(), "determin_duplicate", ([&] {
voxel_mapping.scalar_type(), "determin_duplicate", ([&] {
determin_voxel_num<int><<<1, 1, 0, logic_stream>>>(
voxel_mapping.data_ptr<int>(), num_points_per_voxel.data_ptr<int>(),
point_to_voxelidx.data_ptr<int>(),
......@@ -228,7 +228,7 @@ std::vector<at::Tensor> dynamic_point_to_voxel_forward_gpu(
dim3 cp_threads(threadsPerBlock, 4);
cudaStream_t cp_stream = at::cuda::getCurrentCUDAStream();
AT_DISPATCH_ALL_TYPES(
points.type(), "scatter_point_to_voxel", ([&] {
points.scalar_type(), "scatter_point_to_voxel", ([&] {
scatter_point_to_voxel_kernel<float, int>
<<<blocks, cp_threads, 0, cp_stream>>>(
points.data_ptr<float>(), voxel_mapping.data_ptr<int>(),
......@@ -265,8 +265,8 @@ void dynamic_point_to_voxel_backward_gpu(at::Tensor& grad_input_points,
dim3 blocks(col_blocks);
dim3 cp_threads(threadsPerBlock, 4);
cudaStream_t cp_stream = at::cuda::getCurrentCUDAStream();
AT_DISPATCH_ALL_TYPES(grad_input_points.type(), "scatter_point_to_voxel",
([&] {
AT_DISPATCH_ALL_TYPES(grad_input_points.scalar_type(),
"scatter_point_to_voxel", ([&] {
map_voxel_to_point_kernel<float, int>
<<<blocks, cp_threads, 0, cp_stream>>>(
grad_input_points.data_ptr<float>(),
......
mmdet3d/ops/voxel/src/voxelization.h
View file @ e0d892c7
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mmdet3d/ops/voxel/src/voxelization_cpu.cpp
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mmdet3d/ops/voxel/src/voxelization_cuda.cu
View file @ e0d892c7
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mmdet3d/utils/__init__.py
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mmdet3d/utils/logger.py 0 → 100644
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requirements/runtime.txt
View file @ e0d892c7
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tests/test_anchor.py 0 → 100644
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tests/test_config.py
View file @ e0d892c7
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tests/test_heads.py 0 → 100644
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tests/test_indoor_sample.py 0 → 100644
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