feat: support torch>=1.11 (#1041)

* feat: support torch>=1.11

Fix #900.
Support PyTorch version >= 1.11. Referring to https://github.com/pytorch/pytorch/pull/66765 and https://github.com/pytorch/pytorch/wiki/TH-to-ATen-porting-guide.

* fix: Remove preproc torch version check macros

pcdet/ops/pointnet2/pointnet2_batch/src/ball_query.cpp

@@ -7,13 +7,10 @@ All Rights Reserved 2018.
 
 #include <torch/serialize/tensor.h>
 #include <vector>
-#include <THC/THC.h>
 #include <cuda.h>
 #include <cuda_runtime_api.h>
 #include "ball_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__); \

pcdet/ops/pointnet2/pointnet2_batch/src/group_points.cpp

@@ -9,11 +9,8 @@ All Rights Reserved 2018.
 #include <cuda.h>
 #include <cuda_runtime_api.h>
 #include <vector>
-#include <THC/THC.h>
 #include "group_points_gpu.h"
 
-extern THCState *state;
-
 
 int group_points_grad_wrapper_fast(int b, int c, int n, int npoints, int nsample, 
     at::Tensor grad_out_tensor, at::Tensor idx_tensor, at::Tensor grad_points_tensor) {

pcdet/ops/pointnet2/pointnet2_batch/src/interpolate.cpp

@@ -7,7 +7,6 @@ All Rights Reserved 2018.
 
 #include <torch/serialize/tensor.h>
 #include <vector>
-#include <THC/THC.h>
 #include <math.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -15,8 +14,6 @@ All Rights Reserved 2018.
 #include <cuda_runtime_api.h>
 #include "interpolate_gpu.h"
 
-extern THCState *state;
-
 
 void three_nn_wrapper_fast(int b, int n, int m, at::Tensor unknown_tensor, 
     at::Tensor known_tensor, at::Tensor dist2_tensor, at::Tensor idx_tensor) {
@@ -43,6 +40,7 @@ void three_interpolate_wrapper_fast(int b, int c, int m, int n,
     three_interpolate_kernel_launcher_fast(b, c, m, n, points, idx, weight, out);
 }
 
+
 void three_interpolate_grad_wrapper_fast(int b, int c, int n, int m,
                             at::Tensor grad_out_tensor,
                             at::Tensor idx_tensor,

pcdet/ops/pointnet2/pointnet2_batch/src/sampling.cpp

@@ -8,12 +8,8 @@ All Rights Reserved 2018.
 #include <torch/serialize/tensor.h>
 #include <ATen/cuda/CUDAContext.h>
 #include <vector>
-#include <THC/THC.h>
-
 #include "sampling_gpu.h"
 
-extern THCState *state;
-
 
 int gather_points_wrapper_fast(int b, int c, int n, int npoints, 
     at::Tensor points_tensor, at::Tensor idx_tensor, at::Tensor out_tensor){

pcdet/ops/pointnet2/pointnet2_stack/src/ball_query.cpp

@@ -7,13 +7,10 @@ All Rights Reserved 2019-2020.
 
 #include <torch/serialize/tensor.h>
 #include <vector>
-#include <THC/THC.h>
 #include <cuda.h>
 #include <cuda_runtime_api.h>
 #include "ball_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__); \
@@ -28,6 +25,7 @@ extern THCState *state;
 } while (0)
 #define CHECK_INPUT(x) CHECK_CUDA(x);CHECK_CONTIGUOUS(x)
 
+
 int ball_query_wrapper_stack(int B, int M, float radius, int nsample,
     at::Tensor new_xyz_tensor, at::Tensor new_xyz_batch_cnt_tensor,
     at::Tensor xyz_tensor, at::Tensor xyz_batch_cnt_tensor, at::Tensor idx_tensor) {

pcdet/ops/pointnet2/pointnet2_stack/src/group_points.cpp

@@ -9,10 +9,8 @@ All Rights Reserved 2019-2020.
 #include <cuda.h>
 #include <cuda_runtime_api.h>
 #include <vector>
-#include <THC/THC.h>
 #include "group_points_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__); \

pcdet/ops/pointnet2/pointnet2_stack/src/interpolate.cpp

@@ -7,7 +7,6 @@ All Rights Reserved 2019-2020.
 
 #include <torch/serialize/tensor.h>
 #include <vector>
-#include <THC/THC.h>
 #include <math.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -15,8 +14,6 @@ All Rights Reserved 2019-2020.
 #include <cuda_runtime_api.h>
 #include "interpolate_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__); \

pcdet/ops/pointnet2/pointnet2_stack/src/sampling.cpp

 #include <torch/serialize/tensor.h>
 #include <ATen/cuda/CUDAContext.h>
 #include <vector>
-#include <THC/THC.h>
-
 #include "sampling_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__); \

pcdet/ops/pointnet2/pointnet2_stack/src/vector_pool.cpp

@@ -10,13 +10,10 @@ All Rights Reserved 2020.
 
 #include <torch/serialize/tensor.h>
 #include <vector>
-#include <THC/THC.h>
 #include <cuda.h>
 #include <cuda_runtime_api.h>
 #include "vector_pool_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__); \

pcdet/ops/pointnet2/pointnet2_stack/src/voxel_query.cpp

 #include <torch/serialize/tensor.h>
 #include <vector>
-#include <THC/THC.h>
 #include <math.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -8,8 +7,6 @@
 #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__); \