add L1 support for KNN & Chamfer

Summary:
Added L1 norm for KNN and chamfer op
* The norm is now specified with a variable `norm` which can only be 1 or 2

Reviewed By: bottler

Differential Revision: D35419637

fbshipit-source-id: 77813fec650b30c28342af90d5ed02c89133e136

pytorch3d/csrc/knn/knn.cu

@@ -36,7 +36,8 @@ __global__ void KNearestNeighborKernelV0(
     const size_t P1,
     const size_t P2,
     const size_t D,
-    const size_t K) {
+    const size_t K,
+    const size_t norm) {
   // Store both dists and indices for knn in global memory.
   const int64_t chunks_per_cloud = (1 + (P1 - 1) / blockDim.x);
   const int64_t chunks_to_do = N * chunks_per_cloud;
@@ -56,7 +57,8 @@ __global__ void KNearestNeighborKernelV0(
         scalar_t coord1 = points1[n * P1 * D + p1 * D + d];
         scalar_t coord2 = points2[n * P2 * D + p2 * D + d];
         scalar_t diff = coord1 - coord2;
-        dist += diff * diff;
+        scalar_t norm_diff = (norm == 2) ? (diff * diff) : abs(diff);
+        dist += norm_diff;
       }
       mink.add(dist, p2);
     }
@@ -74,7 +76,8 @@ __global__ void KNearestNeighborKernelV1(
     const size_t N,
     const size_t P1,
     const size_t P2,
-    const size_t K) {
+    const size_t K,
+    const size_t norm) {
   // Same idea as the previous version, but hoist D into a template argument
   // so we can cache the current point in a thread-local array. We still store
   // the current best K dists and indices in global memory, so this should work
@@ -99,7 +102,8 @@ __global__ void KNearestNeighborKernelV1(
       scalar_t dist = 0;
       for (int d = 0; d < D; ++d) {
         scalar_t diff = cur_point[d] - points2[n * P2 * D + p2 * D + d];
-        dist += diff * diff;
+        scalar_t norm_diff = (norm == 2) ? (diff * diff) : abs(diff);
+        dist += norm_diff;
       }
       mink.add(dist, p2);
     }
@@ -121,10 +125,11 @@ struct KNearestNeighborV1Functor {
       const size_t N,
       const size_t P1,
       const size_t P2,
-      const size_t K) {
+      const size_t K,
+      const size_t norm) {
     cudaStream_t stream = at::cuda::getCurrentCUDAStream();
     KNearestNeighborKernelV1<scalar_t, D><<<blocks, threads, 0, stream>>>(
-        points1, points2, lengths1, lengths2, dists, idxs, N, P1, P2, K);
+        points1, points2, lengths1, lengths2, dists, idxs, N, P1, P2, K, norm);
   }
 };
 
@@ -138,7 +143,8 @@ __global__ void KNearestNeighborKernelV2(
     int64_t* __restrict__ idxs,
     const int64_t N,
     const int64_t P1,
-    const int64_t P2) {
+    const int64_t P2,
+    const size_t norm) {
   // Same general implementation as V2, but also hoist K into a template arg.
   scalar_t cur_point[D];
   scalar_t min_dists[K];
@@ -161,7 +167,8 @@ __global__ void KNearestNeighborKernelV2(
       for (int d = 0; d < D; ++d) {
         int offset = n * P2 * D + p2 * D + d;
         scalar_t diff = cur_point[d] - points2[offset];
-        dist += diff * diff;
+        scalar_t norm_diff = (norm == 2) ? (diff * diff) : abs(diff);
+        dist += norm_diff;
       }
       mink.add(dist, p2);
     }
@@ -186,10 +193,11 @@ struct KNearestNeighborKernelV2Functor {
       int64_t* __restrict__ idxs,
       const int64_t N,
       const int64_t P1,
-      const int64_t P2) {
+      const int64_t P2,
+      const size_t norm) {
     cudaStream_t stream = at::cuda::getCurrentCUDAStream();
     KNearestNeighborKernelV2<scalar_t, D, K><<<blocks, threads, 0, stream>>>(
-        points1, points2, lengths1, lengths2, dists, idxs, N, P1, P2);
+        points1, points2, lengths1, lengths2, dists, idxs, N, P1, P2, norm);
   }
 };
 
@@ -203,7 +211,8 @@ __global__ void KNearestNeighborKernelV3(
     int64_t* __restrict__ idxs,
     const size_t N,
     const size_t P1,
-    const size_t P2) {
+    const size_t P2,
+    const size_t norm) {
   // Same idea as V2, but use register indexing for thread-local arrays.
   // Enabling sorting for this version leads to huge slowdowns; I suspect
   // that it forces min_dists into local memory rather than registers.
@@ -229,7 +238,8 @@ __global__ void KNearestNeighborKernelV3(
       for (int d = 0; d < D; ++d) {
         int offset = n * P2 * D + p2 * D + d;
         scalar_t diff = cur_point[d] - points2[offset];
-        dist += diff * diff;
+        scalar_t norm_diff = (norm == 2) ? (diff * diff) : abs(diff);
+        dist += norm_diff;
       }
       mink.add(dist, p2);
     }
@@ -254,10 +264,11 @@ struct KNearestNeighborKernelV3Functor {
       int64_t* __restrict__ idxs,
       const size_t N,
       const size_t P1,
-      const size_t P2) {
+      const size_t P2,
+      const size_t norm) {
     cudaStream_t stream = at::cuda::getCurrentCUDAStream();
     KNearestNeighborKernelV3<scalar_t, D, K><<<blocks, threads, 0, stream>>>(
-        points1, points2, lengths1, lengths2, dists, idxs, N, P1, P2);
+        points1, points2, lengths1, lengths2, dists, idxs, N, P1, P2, norm);
   }
 };
 
@@ -305,7 +316,8 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborIdxCuda(
     const at::Tensor& p2,
     const at::Tensor& lengths1,
     const at::Tensor& lengths2,
-    int K,
+    const int norm,
+    const int K,
     int version) {
   // Check inputs are on the same device
   at::TensorArg p1_t{p1, "p1", 1}, p2_t{p2, "p2", 2},
@@ -324,6 +336,8 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborIdxCuda(
   const auto D = p2.size(2);
   const int64_t K_64 = K;
 
+  TORCH_CHECK((norm == 1) || (norm == 2), "Norm must be 1 or 2.");
+
   TORCH_CHECK(p2.size(2) == D, "Point sets must have the same last dimension");
   auto long_dtype = lengths1.options().dtype(at::kLong);
   auto idxs = at::zeros({N, P1, K}, long_dtype);
@@ -366,7 +380,8 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborIdxCuda(
               P1,
               P2,
               D,
-              K);
+              K,
+              norm);
         }));
   } else if (version == 1) {
     AT_DISPATCH_FLOATING_TYPES(p1.scalar_type(), "knn_kernel_cuda", ([&] {
@@ -387,7 +402,8 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborIdxCuda(
                                      N,
                                      P1,
                                      P2,
-                                     K);
+                                     K,
+                                     norm);
                                }));
   } else if (version == 2) {
     AT_DISPATCH_FLOATING_TYPES(p1.scalar_type(), "knn_kernel_cuda", ([&] {
@@ -410,7 +426,8 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborIdxCuda(
                                      idxs.data_ptr<int64_t>(),
                                      N,
                                      P1,
-                                     P2);
+                                     P2,
+                                     norm);
                                }));
   } else if (version == 3) {
     AT_DISPATCH_FLOATING_TYPES(p1.scalar_type(), "knn_kernel_cuda", ([&] {
@@ -433,7 +450,8 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborIdxCuda(
                                      idxs.data_ptr<int64_t>(),
                                      N,
                                      P1,
-                                     P2);
+                                     P2,
+                                     norm);
                                }));
   }
   AT_CUDA_CHECK(cudaGetLastError());
@@ -459,7 +477,8 @@ __global__ void KNearestNeighborBackwardKernel(
     const size_t P1,
     const size_t P2,
     const size_t K,
-    const size_t D) {
+    const size_t D,
+    const size_t norm) {
   const size_t tid = blockIdx.x * blockDim.x + threadIdx.x;
   const size_t stride = gridDim.x * blockDim.x;
 
@@ -481,8 +500,17 @@ __global__ void KNearestNeighborBackwardKernel(
       if (p2_idx == -1) {
         continue;
       }
-      const float diff = 2.0 * grad_dist *
-          (p1[n * P1 * D + p1_idx * D + d] - p2[n * P2 * D + p2_idx * D + d]);
+      float diff = 0.0;
+      if (norm == 1) {
+        float sign =
+            (p1[n * P1 * D + p1_idx * D + d] > p2[n * P2 * D + p2_idx * D + d])
+            ? 1.0
+            : -1.0;
+        diff = grad_dist * sign;
+      } else { // norm is 2
+        diff = 2.0 * grad_dist *
+            (p1[n * P1 * D + p1_idx * D + d] - p2[n * P2 * D + p2_idx * D + d]);
+      }
       atomicAdd(grad_p1 + n * P1 * D + p1_idx * D + d, diff);
       atomicAdd(grad_p2 + n * P2 * D + p2_idx * D + d, -1.0f * diff);
     }
@@ -495,6 +523,7 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborBackwardCuda(
     const at::Tensor& lengths1,
     const at::Tensor& lengths2,
     const at::Tensor& idxs,
+    int norm,
     const at::Tensor& grad_dists) {
   // Check inputs are on the same device
   at::TensorArg p1_t{p1, "p1", 1}, p2_t{p2, "p2", 2},
@@ -547,7 +576,8 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborBackwardCuda(
       P1,
       P2,
       K,
-      D);
+      D,
+      norm);
 
   AT_CUDA_CHECK(cudaGetLastError());
   return std::make_tuple(grad_p1, grad_p2);

pytorch3d/csrc/knn/knn.h

@@ -21,6 +21,7 @@
 //        containing P2 points of dimension D.
 //    lengths1: LongTensor, shape (N,), giving actual length of each P1 cloud.
 //    lengths2: LongTensor, shape (N,), giving actual length of each P2 cloud.
+//    norm: int specifying the norm for the distance (1 for L1, 2 for L2)
 //    K: int giving the number of nearest points to return.
 //    version: Integer telling which implementation to use.
 //
@@ -41,7 +42,8 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborIdxCpu(
     const at::Tensor& p2,
     const at::Tensor& lengths1,
     const at::Tensor& lengths2,
-    int K);
+    const int norm,
+    const int K);
 
 // CUDA implementation
 std::tuple<at::Tensor, at::Tensor> KNearestNeighborIdxCuda(
@@ -49,8 +51,9 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborIdxCuda(
     const at::Tensor& p2,
     const at::Tensor& lengths1,
     const at::Tensor& lengths2,
-    int K,
-    int version);
+    const int norm,
+    const int K,
+    const int version);
 
 // Implementation which is exposed.
 std::tuple<at::Tensor, at::Tensor> KNearestNeighborIdx(
@@ -58,18 +61,20 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborIdx(
     const at::Tensor& p2,
     const at::Tensor& lengths1,
     const at::Tensor& lengths2,
-    int K,
-    int version) {
+    const int norm,
+    const int K,
+    const int version) {
   if (p1.is_cuda() || p2.is_cuda()) {
 #ifdef WITH_CUDA
     CHECK_CUDA(p1);
     CHECK_CUDA(p2);
-    return KNearestNeighborIdxCuda(p1, p2, lengths1, lengths2, K, version);
+    return KNearestNeighborIdxCuda(
+        p1, p2, lengths1, lengths2, norm, K, version);
 #else
     AT_ERROR("Not compiled with GPU support.");
 #endif
   }
-  return KNearestNeighborIdxCpu(p1, p2, lengths1, lengths2, K);
+  return KNearestNeighborIdxCpu(p1, p2, lengths1, lengths2, norm, K);
 }
 
 // Compute gradients with respect to p1 and p2
@@ -86,6 +91,7 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborIdx(
 //        neighbor to p1[n, i] in the cloud p2[n] is p2[n, j].
 //        It is padded with zeros so that it can be used easily in a later
 //        gather() operation. This is computed from the forward pass.
+//    norm: int specifying the norm for the distance (1 for L1, 2 for L2)
 //    grad_dists: FLoatTensor of shape (N, P1, K) which contains the input
 //        gradients.
 //
@@ -102,6 +108,7 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborBackwardCpu(
     const at::Tensor& lengths1,
     const at::Tensor& lengths2,
     const at::Tensor& idxs,
+    const int norm,
     const at::Tensor& grad_dists);
 
 // CUDA implementation
@@ -111,6 +118,7 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborBackwardCuda(
     const at::Tensor& lengths1,
     const at::Tensor& lengths2,
     const at::Tensor& idxs,
+    const int norm,
     const at::Tensor& grad_dists);
 
 // Implementation which is exposed.
@@ -120,19 +128,20 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborBackward(
     const at::Tensor& lengths1,
     const at::Tensor& lengths2,
     const at::Tensor& idxs,
+    const int norm,
     const at::Tensor& grad_dists) {
   if (p1.is_cuda() || p2.is_cuda()) {
 #ifdef WITH_CUDA
     CHECK_CUDA(p1);
     CHECK_CUDA(p2);
     return KNearestNeighborBackwardCuda(
-        p1, p2, lengths1, lengths2, idxs, grad_dists);
+        p1, p2, lengths1, lengths2, idxs, norm, grad_dists);
 #else
     AT_ERROR("Not compiled with GPU support.");
 #endif
   }
   return KNearestNeighborBackwardCpu(
-      p1, p2, lengths1, lengths2, idxs, grad_dists);
+      p1, p2, lengths1, lengths2, idxs, norm, grad_dists);
 }
 
 // Utility to check whether a KNN version can be used.

pytorch3d/csrc/knn/knn_cpu.cpp

@@ -15,7 +15,8 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborIdxCpu(
     const at::Tensor& p2,
     const at::Tensor& lengths1,
     const at::Tensor& lengths2,
-    int K) {
+    const int norm,
+    const int K) {
   const int N = p1.size(0);
   const int P1 = p1.size(1);
   const int D = p1.size(2);
@@ -41,7 +42,11 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborIdxCpu(
         float dist = 0;
         for (int d = 0; d < D; ++d) {
           float diff = p1_a[n][i1][d] - p2_a[n][i2][d];
-          dist += diff * diff;
+          if (norm == 1) {
+            dist += abs(diff);
+          } else { // norm is 2 (default)
+            dist += diff * diff;
+          }
         }
         int size = static_cast<int>(q.size());
         if (size < K || dist < std::get<0>(q.top())) {
@@ -73,6 +78,7 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborBackwardCpu(
     const at::Tensor& lengths1,
     const at::Tensor& lengths2,
     const at::Tensor& idxs,
+    const int norm,
     const at::Tensor& grad_dists) {
   const int N = p1.size(0);
   const int P1 = p1.size(1);
@@ -104,8 +110,14 @@ std::tuple<at::Tensor, at::Tensor> KNearestNeighborBackwardCpu(
           continue;
         }
         for (int64_t d = 0; d < D; ++d) {
-          const float diff =
-              2.0f * grad_dists_a[n][i1][k] * (p1_a[n][i1][d] - p2_a[n][i2][d]);
+          float diff = 0.0;
+          if (norm == 1) {
+            float sign = (p1_a[n][i1][d] > p2_a[n][i2][d]) ? 1.0 : -1.0;
+            diff = grad_dists_a[n][i1][k] * sign;
+          } else { // norm is 2 (default)
+            diff = 2.0f * grad_dists_a[n][i1][k] *
+                (p1_a[n][i1][d] - p2_a[n][i2][d]);
+          }
           grad_p1_a[n][i1][d] += diff;
           grad_p2_a[n][i2][d] += -1.0f * diff;
         }

pytorch3d/loss/chamfer.py

@@ -77,6 +77,7 @@ def chamfer_distance(
     weights=None,
     batch_reduction: Union[str, None] = "mean",
     point_reduction: str = "mean",
+    norm: int = 2,
 ):
     """
     Chamfer distance between two pointclouds x and y.
@@ -100,6 +101,7 @@ def chamfer_distance(
             batch, can be one of ["mean", "sum"] or None.
         point_reduction: Reduction operation to apply for the loss across the
             points, can be one of ["mean", "sum"].
+        norm: int indicates the norm used for the distance. Supports 1 for L1 and 2 for L2.
 
     Returns:
         2-element tuple containing
@@ -112,6 +114,9 @@ def chamfer_distance(
     """
     _validate_chamfer_reduction_inputs(batch_reduction, point_reduction)
 
+    if not ((norm == 1) or (norm == 2)):
+        raise ValueError("Support for 1 or 2 norm.")
+
     x, x_lengths, x_normals = _handle_pointcloud_input(x, x_lengths, x_normals)
     y, y_lengths, y_normals = _handle_pointcloud_input(y, y_lengths, y_normals)
 
@@ -149,8 +154,8 @@ def chamfer_distance(
     cham_norm_x = x.new_zeros(())
     cham_norm_y = x.new_zeros(())
 
-    x_nn = knn_points(x, y, lengths1=x_lengths, lengths2=y_lengths, K=1)
-    y_nn = knn_points(y, x, lengths1=y_lengths, lengths2=x_lengths, K=1)
+    x_nn = knn_points(x, y, lengths1=x_lengths, lengths2=y_lengths, norm=norm, K=1)
+    y_nn = knn_points(y, x, lengths1=y_lengths, lengths2=x_lengths, norm=norm, K=1)
 
     cham_x = x_nn.dists[..., 0]  # (N, P1)
     cham_y = y_nn.dists[..., 0]  # (N, P2)

pytorch3d/ops/ball_query.py

@@ -43,8 +43,9 @@ class _ball_query(Function):
             p2 = p2.float()
 
         # Reuse the KNN backward function
+        # by default, norm is 2
         grad_p1, grad_p2 = _C.knn_points_backward(
-            p1, p2, lengths1, lengths2, idx, grad_dists
+            p1, p2, lengths1, lengths2, idx, 2, grad_dists
         )
         return grad_p1, grad_p2, None, None, None, None
 

pytorch3d/ops/knn.py

@@ -24,7 +24,15 @@ class _knn_points(Function):
     @staticmethod
     # pyre-fixme[14]: `forward` overrides method defined in `Function` inconsistently.
     def forward(
-        ctx, p1, p2, lengths1, lengths2, K, version, return_sorted: bool = True
+        ctx,
+        p1,
+        p2,
+        lengths1,
+        lengths2,
+        K,
+        version,
+        norm: int = 2,
+        return_sorted: bool = True,
     ):
         """
         K-Nearest neighbors on point clouds.
@@ -43,6 +51,7 @@ class _knn_points(Function):
             K: Integer giving the number of nearest neighbors to return.
             version: Which KNN implementation to use in the backend. If version=-1,
                 the correct implementation is selected based on the shapes of the inputs.
+            norm: (int) indicating the norm. Only supports 1 (for L1) and 2 (for L2).
             return_sorted: (bool) whether to return the nearest neighbors sorted in
                 ascending order of distance.
 
@@ -57,8 +66,10 @@ class _knn_points(Function):
                 neighbors to `p1[n, i]` in `p2[n]`. This is padded with zeros both where a cloud
                 in p2 has fewer than K points and where a cloud in p1 has fewer than P1 points.
         """
+        if not ((norm == 1) or (norm == 2)):
+            raise ValueError("Support for 1 or 2 norm.")
 
-        idx, dists = _C.knn_points_idx(p1, p2, lengths1, lengths2, K, version)
+        idx, dists = _C.knn_points_idx(p1, p2, lengths1, lengths2, norm, K, version)
 
         # sort KNN in ascending order if K > 1
         if K > 1 and return_sorted:
@@ -78,12 +89,14 @@ class _knn_points(Function):
 
         ctx.save_for_backward(p1, p2, lengths1, lengths2, idx)
         ctx.mark_non_differentiable(idx)
+        ctx.norm = norm
         return dists, idx
 
     @staticmethod
     @once_differentiable
     def backward(ctx, grad_dists, grad_idx):
         p1, p2, lengths1, lengths2, idx = ctx.saved_tensors
+        norm = ctx.norm
         # TODO(gkioxari) Change cast to floats once we add support for doubles.
         if not (grad_dists.dtype == torch.float32):
             grad_dists = grad_dists.float()
@@ -92,9 +105,9 @@ class _knn_points(Function):
         if not (p2.dtype == torch.float32):
             p2 = p2.float()
         grad_p1, grad_p2 = _C.knn_points_backward(
-            p1, p2, lengths1, lengths2, idx, grad_dists
+            p1, p2, lengths1, lengths2, idx, norm, grad_dists
         )
-        return grad_p1, grad_p2, None, None, None, None, None
+        return grad_p1, grad_p2, None, None, None, None, None, None
 
 
 def knn_points(
@@ -102,6 +115,7 @@ def knn_points(
     p2: torch.Tensor,
     lengths1: Union[torch.Tensor, None] = None,
     lengths2: Union[torch.Tensor, None] = None,
+    norm: int = 2,
     K: int = 1,
     version: int = -1,
     return_nn: bool = False,
@@ -121,6 +135,7 @@ def knn_points(
         lengths2: LongTensor of shape (N,) of values in the range [0, P2], giving the
             length of each pointcloud in p2. Or None to indicate that every cloud has
             length P2.
+        norm: Integer indicating the norm of the distance. Supports only 1 for L1, 2 for L2.
         K: Integer giving the number of nearest neighbors to return.
         version: Which KNN implementation to use in the backend. If version=-1,
             the correct implementation is selected based on the shapes of the inputs.
@@ -172,7 +187,7 @@ def knn_points(
 
     # pyre-fixme[16]: `_knn_points` has no attribute `apply`.
     p1_dists, p1_idx = _knn_points.apply(
-        p1, p2, lengths1, lengths2, K, version, return_sorted
+        p1, p2, lengths1, lengths2, K, version, norm, return_sorted
     )
 
     p2_nn = None

tests/test_chamfer.py

@@ -87,7 +87,7 @@ class TestChamfer(TestCaseMixin, unittest.TestCase):
         )
 
     @staticmethod
-    def chamfer_distance_naive_pointclouds(p1, p2, device="cpu"):
+    def chamfer_distance_naive_pointclouds(p1, p2, norm: int = 2, device="cpu"):
         """
         Naive iterative implementation of nearest neighbor and chamfer distance.
         x and y are assumed to be pointclouds objects with points and optionally normals.
@@ -121,7 +121,14 @@ class TestChamfer(TestCaseMixin, unittest.TestCase):
         for n in range(N):
             for i1 in range(x_lengths[n]):
                 for i2 in range(y_lengths[n]):
-                    dist[n, i1, i2] = torch.sum((x[n, i1, :] - y[n, i2, :]) ** 2)
+                    if norm == 2:
+                        dist[n, i1, i2] = torch.sum((x[n, i1, :] - y[n, i2, :]) ** 2)
+                    elif norm == 1:
+                        dist[n, i1, i2] = torch.sum(
+                            torch.abs(x[n, i1, :] - y[n, i2, :])
+                        )
+                    else:
+                        raise ValueError("No support for norm %d" % (norm))
 
         x_dist = torch.min(dist, dim=2)[0]  # (N, P1)
         y_dist = torch.min(dist, dim=1)[0]  # (N, P2)
@@ -159,7 +166,7 @@ class TestChamfer(TestCaseMixin, unittest.TestCase):
         return loss, lnorm
 
     @staticmethod
-    def chamfer_distance_naive(x, y, x_normals=None, y_normals=None):
+    def chamfer_distance_naive(x, y, x_normals=None, y_normals=None, norm: int = 2):
         """
         Naive iterative implementation of nearest neighbor and chamfer distance.
         Returns lists of the unreduced loss and loss_normals. This naive
@@ -174,7 +181,14 @@ class TestChamfer(TestCaseMixin, unittest.TestCase):
         for n in range(N):
             for i1 in range(P1):
                 for i2 in range(P2):
-                    dist[n, i1, i2] = torch.sum((x[n, i1, :] - y[n, i2, :]) ** 2)
+                    if norm == 2:
+                        dist[n, i1, i2] = torch.sum((x[n, i1, :] - y[n, i2, :]) ** 2)
+                    elif norm == 1:
+                        dist[n, i1, i2] = torch.sum(
+                            torch.abs(x[n, i1, :] - y[n, i2, :])
+                        )
+                    else:
+                        raise ValueError("No support for norm %d" % (norm))
 
         loss = [
             torch.min(dist, dim=2)[0],  # (N, P1)
@@ -208,30 +222,34 @@ class TestChamfer(TestCaseMixin, unittest.TestCase):
         """
         N, max_P1, max_P2 = 7, 10, 18
         device = get_random_cuda_device()
-        points_normals = TestChamfer.init_pointclouds(N, max_P1, max_P2, device)
-        p1 = points_normals.p1
-        p2 = points_normals.p2
-        weights = points_normals.weights
-        p11 = p1.detach().clone()
-        p22 = p2.detach().clone()
-        p11.requires_grad = True
-        p22.requires_grad = True
-        P1 = p1.shape[1]
-        P2 = p2.shape[1]
 
-        pred_loss, pred_loss_norm = TestChamfer.chamfer_distance_naive(p1, p2)
+        for norm in [1, 2]:
+            points_normals = TestChamfer.init_pointclouds(N, max_P1, max_P2, device)
+            p1 = points_normals.p1
+            p2 = points_normals.p2
+            weights = points_normals.weights
+            p11 = p1.detach().clone()
+            p22 = p2.detach().clone()
+            p11.requires_grad = True
+            p22.requires_grad = True
+            P1 = p1.shape[1]
+            P2 = p2.shape[1]
+
+            pred_loss, pred_loss_norm = TestChamfer.chamfer_distance_naive(
+                p1, p2, norm=norm
+            )
 
-        # point_reduction = "mean".
-        loss, loss_norm = chamfer_distance(p11, p22, weights=weights)
-        pred_loss = pred_loss[0].sum(1) / P1 + pred_loss[1].sum(1) / P2
-        pred_loss *= weights
-        pred_loss = pred_loss.sum() / weights.sum()
+            # point_reduction = "mean".
+            loss, loss_norm = chamfer_distance(p11, p22, weights=weights, norm=norm)
+            pred_loss = pred_loss[0].sum(1) / P1 + pred_loss[1].sum(1) / P2
+            pred_loss *= weights
+            pred_loss = pred_loss.sum() / weights.sum()
 
-        self.assertClose(loss, pred_loss)
-        self.assertTrue(loss_norm is None)
+            self.assertClose(loss, pred_loss)
+            self.assertTrue(loss_norm is None)
 
-        # Check gradients
-        self._check_gradients(loss, None, pred_loss, None, p1, p11, p2, p22)
+            # Check gradients
+            self._check_gradients(loss, None, pred_loss, None, p1, p11, p2, p22)
 
     def test_chamfer_vs_naive_pointcloud(self):
         """
@@ -242,63 +260,67 @@ class TestChamfer(TestCaseMixin, unittest.TestCase):
         """
         N, max_P1, max_P2 = 3, 70, 70
         device = get_random_cuda_device()
-        points_normals = TestChamfer.init_pointclouds(N, max_P1, max_P2, device)
-        weights = points_normals.weights
-        x_lengths = points_normals.p1_lengths
-        y_lengths = points_normals.p2_lengths
-
-        # Chamfer with tensors as input for heterogeneous pointclouds.
-        cham_tensor, norm_tensor = chamfer_distance(
-            points_normals.p1,
-            points_normals.p2,
-            x_normals=points_normals.n1,
-            y_normals=points_normals.n2,
-            x_lengths=points_normals.p1_lengths,
-            y_lengths=points_normals.p2_lengths,
-            weights=weights,
-        )
 
-        # Chamfer with pointclouds as input.
-        pred_loss, pred_norm_loss = TestChamfer.chamfer_distance_naive_pointclouds(
-            points_normals.cloud1, points_normals.cloud2, device=device
-        )
+        for norm in [1, 2]:
+            points_normals = TestChamfer.init_pointclouds(N, max_P1, max_P2, device)
+            weights = points_normals.weights
+            x_lengths = points_normals.p1_lengths
+            y_lengths = points_normals.p2_lengths
 
-        # Mean reduction point loss.
-        pred_loss[0] *= weights.view(N, 1)
-        pred_loss[1] *= weights.view(N, 1)
-        pred_loss_mean = (
-            pred_loss[0].sum(1) / x_lengths + pred_loss[1].sum(1) / y_lengths
-        )
-        pred_loss_mean = pred_loss_mean.sum()
-        pred_loss_mean /= weights.sum()
+            # Chamfer with tensors as input for heterogeneous pointclouds.
+            cham_tensor, norm_tensor = chamfer_distance(
+                points_normals.p1,
+                points_normals.p2,
+                x_normals=points_normals.n1,
+                y_normals=points_normals.n2,
+                x_lengths=points_normals.p1_lengths,
+                y_lengths=points_normals.p2_lengths,
+                weights=weights,
+                norm=norm,
+            )
 
-        # Mean reduction norm loss.
-        pred_norm_loss[0] *= weights.view(N, 1)
-        pred_norm_loss[1] *= weights.view(N, 1)
-        pred_norm_loss_mean = (
-            pred_norm_loss[0].sum(1) / x_lengths + pred_norm_loss[1].sum(1) / y_lengths
-        )
-        pred_norm_loss_mean = pred_norm_loss_mean.sum() / weights.sum()
+            # Chamfer with pointclouds as input.
+            pred_loss, pred_norm_loss = TestChamfer.chamfer_distance_naive_pointclouds(
+                points_normals.cloud1, points_normals.cloud2, norm=norm, device=device
+            )
 
-        self.assertClose(pred_loss_mean, cham_tensor)
-        self.assertClose(pred_norm_loss_mean, norm_tensor)
+            # Mean reduction point loss.
+            pred_loss[0] *= weights.view(N, 1)
+            pred_loss[1] *= weights.view(N, 1)
+            pred_loss_mean = (
+                pred_loss[0].sum(1) / x_lengths + pred_loss[1].sum(1) / y_lengths
+            )
+            pred_loss_mean = pred_loss_mean.sum()
+            pred_loss_mean /= weights.sum()
+
+            # Mean reduction norm loss.
+            pred_norm_loss[0] *= weights.view(N, 1)
+            pred_norm_loss[1] *= weights.view(N, 1)
+            pred_norm_loss_mean = (
+                pred_norm_loss[0].sum(1) / x_lengths
+                + pred_norm_loss[1].sum(1) / y_lengths
+            )
+            pred_norm_loss_mean = pred_norm_loss_mean.sum() / weights.sum()
 
-        self._check_gradients(
-            cham_tensor,
-            norm_tensor,
-            pred_loss_mean,
-            pred_norm_loss_mean,
-            points_normals.cloud1.points_list(),
-            points_normals.p1,
-            points_normals.cloud2.points_list(),
-            points_normals.p2,
-            points_normals.cloud1.normals_list(),
-            points_normals.n1,
-            points_normals.cloud2.normals_list(),
-            points_normals.n2,
-            x_lengths,
-            y_lengths,
-        )
+            self.assertClose(pred_loss_mean, cham_tensor)
+            self.assertClose(pred_norm_loss_mean, norm_tensor)
+
+            self._check_gradients(
+                cham_tensor,
+                norm_tensor,
+                pred_loss_mean,
+                pred_norm_loss_mean,
+                points_normals.cloud1.points_list(),
+                points_normals.p1,
+                points_normals.cloud2.points_list(),
+                points_normals.p2,
+                points_normals.cloud1.normals_list(),
+                points_normals.n1,
+                points_normals.cloud2.normals_list(),
+                points_normals.n2,
+                x_lengths,
+                y_lengths,
+            )
 
     def test_chamfer_pointcloud_object_withnormals(self):
         N = 5
@@ -742,6 +764,19 @@ class TestChamfer(TestCaseMixin, unittest.TestCase):
         with self.assertRaisesRegex(ValueError, "Pointclouds objects or torch.Tensor"):
             chamfer_distance(x=[1, 1, 1], y=[1, 1, 1])
 
+    def test_invalid_norm(self):
+        N, P1, P2 = 7, 10, 18
+        device = get_random_cuda_device()
+        points_normals = TestChamfer.init_pointclouds(N, P1, P2, device)
+        p1 = points_normals.p1
+        p2 = points_normals.p2
+
+        with self.assertRaisesRegex(ValueError, "Support for 1 or 2 norm."):
+            chamfer_distance(p1, p2, norm=0)
+
+        with self.assertRaisesRegex(ValueError, "Support for 1 or 2 norm."):
+            chamfer_distance(p1, p2, norm=3)
+
     @staticmethod
     def chamfer_with_init(
         batch_size: int,

tests/test_knn.py

@@ -18,7 +18,9 @@ class TestKNN(TestCaseMixin, unittest.TestCase):
         torch.manual_seed(1)
 
     @staticmethod
-    def _knn_points_naive(p1, p2, lengths1, lengths2, K: int) -> torch.Tensor:
+    def _knn_points_naive(
+        p1, p2, lengths1, lengths2, K: int, norm: int = 2
+    ) -> torch.Tensor:
         """
         Naive PyTorch implementation of K-Nearest Neighbors.
         Returns always sorted results
@@ -42,7 +44,12 @@ class TestKNN(TestCaseMixin, unittest.TestCase):
             pp1 = p1[n, :num1].view(num1, 1, D)
             pp2 = p2[n, :num2].view(1, num2, D)
             diff = pp1 - pp2
-            diff = (diff * diff).sum(2)
+            if norm == 2:
+                diff = (diff * diff).sum(2)
+            elif norm == 1:
+                diff = diff.abs().sum(2)
+            else:
+                raise ValueError("No support for norm %d" % (norm))
             num2 = min(num2, K)
             for i in range(num1):
                 dd = diff[i]
@@ -59,9 +66,10 @@ class TestKNN(TestCaseMixin, unittest.TestCase):
         P1s = [8, 24]
         P2s = [8, 16, 32]
         Ks = [1, 3, 10]
+        norms = [1, 2]
         versions = [0, 1, 2, 3]
-        factors = [Ns, Ds, P1s, P2s, Ks]
-        for N, D, P1, P2, K in product(*factors):
+        factors = [Ns, Ds, P1s, P2s, Ks, norms]
+        for N, D, P1, P2, K, norm in product(*factors):
             for version in versions:
                 if version == 3 and K > 4:
                     continue
@@ -73,9 +81,16 @@ class TestKNN(TestCaseMixin, unittest.TestCase):
                 y_cuda.requires_grad_(True)
 
                 # forward
-                out1 = self._knn_points_naive(x, y, lengths1=None, lengths2=None, K=K)
+                out1 = self._knn_points_naive(
+                    x, y, lengths1=None, lengths2=None, K=K, norm=norm
+                )
                 out2 = knn_points(
-                    x_cuda, y_cuda, K=K, version=version, return_sorted=return_sorted
+                    x_cuda,
+                    y_cuda,
+                    K=K,
+                    norm=norm,
+                    version=version,
+                    return_sorted=return_sorted,
                 )
                 if K > 1 and not return_sorted:
                     # check out2 is not sorted
@@ -121,8 +136,9 @@ class TestKNN(TestCaseMixin, unittest.TestCase):
         P1s = [8, 24]
         P2s = [8, 16, 32]
         Ks = [1, 3, 10]
-        factors = [Ns, Ds, P1s, P2s, Ks]
-        for N, D, P1, P2, K in product(*factors):
+        norms = [1, 2]
+        factors = [Ns, Ds, P1s, P2s, Ks, norms]
+        for N, D, P1, P2, K, norm in product(*factors):
             x = torch.rand((N, P1, D), device=device, requires_grad=True)
             y = torch.rand((N, P2, D), device=device, requires_grad=True)
             lengths1 = torch.randint(low=1, high=P1, size=(N,), device=device)
@@ -135,9 +151,11 @@ class TestKNN(TestCaseMixin, unittest.TestCase):
 
             # forward
             out1 = self._knn_points_naive(
-                x, y, lengths1=lengths1, lengths2=lengths2, K=K
+                x, y, lengths1=lengths1, lengths2=lengths2, K=K, norm=norm
+            )
+            out2 = knn_points(
+                x_csrc, y_csrc, lengths1=lengths1, lengths2=lengths2, K=K, norm=norm
             )
-            out2 = knn_points(x_csrc, y_csrc, lengths1=lengths1, lengths2=lengths2, K=K)
             self.assertClose(out1[0], out2[0])
             self.assertTrue(torch.all(out1[1] == out2[1]))
 
@@ -198,6 +216,17 @@ class TestKNN(TestCaseMixin, unittest.TestCase):
                         expected = all_expected[version]
                     self.assertEqual(actual, expected)
 
+    def test_invalid_norm(self):
+        device = get_random_cuda_device()
+        N, P1, P2, K, D = 4, 16, 12, 8, 3
+        x = torch.rand((N, P1, D), device=device)
+        y = torch.rand((N, P2, D), device=device)
+        with self.assertRaisesRegex(ValueError, "Support for 1 or 2 norm."):
+            knn_points(x, y, K=K, norm=3)
+
+        with self.assertRaisesRegex(ValueError, "Support for 1 or 2 norm."):
+            knn_points(x, y, K=K, norm=0)
+
     @staticmethod
     def knn_square(N: int, P1: int, P2: int, D: int, K: int, device: str):
         device = torch.device(device)