voxel_query.cpp

#include <torch/serialize/tensor.h>
#include <vector>
#include <THC/THC.h>
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <cuda.h>
#include <cuda_runtime_api.h>
#include "voxel_query_gpu.h"

extern THCState *state;

#define CHECK_CUDA(x) do { \
  if (!x.type().is_cuda()) { \
    fprintf(stderr, "%s must be CUDA tensor at %s:%d\n", #x, __FILE__, __LINE__); \
    exit(-1); \
  } \
} while (0)
#define CHECK_CONTIGUOUS(x) do { \
  if (!x.is_contiguous()) { \
    fprintf(stderr, "%s must be contiguous tensor at %s:%d\n", #x, __FILE__, __LINE__); \
    exit(-1); \
  } \
} while (0)
#define CHECK_INPUT(x) CHECK_CUDA(x);CHECK_CONTIGUOUS(x)


int voxel_query_wrapper_stack(int M, int R1, int R2, int R3, int nsample, float radius, 
    int z_range, int y_range, int x_range, at::Tensor new_xyz_tensor, at::Tensor xyz_tensor, 
    at::Tensor new_coords_tensor, at::Tensor point_indices_tensor, at::Tensor idx_tensor) {
    CHECK_INPUT(new_coords_tensor);
    CHECK_INPUT(point_indices_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>();
    const int *new_coords = new_coords_tensor.data<int>();
    const int *point_indices = point_indices_tensor.data<int>();
    int *idx = idx_tensor.data<int>();

    voxel_query_kernel_launcher_stack(M, R1, R2, R3, nsample, radius, z_range, y_range, x_range, new_xyz, xyz, new_coords, point_indices, idx);
    return 1;
}