Open3D (C++ API)  0.17.0
SparseConvCUDAKernels.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9#include <vector>
10
11namespace open3d {
12namespace ml {
13namespace impl {
14
66template <class TReal, class TIndex, class TKernelIndex>
67void FillColumn(const cudaStream_t& stream,
68 TReal* columns,
69 int in_channels,
70 TIndex begin_idx,
71 TIndex end_idx,
72 TIndex num_out,
73 TIndex num_inp,
74 const TReal* const __restrict__ inp_features,
75 const TReal* const __restrict__ inp_importance,
76 size_t neighbors_index_size,
77 const TIndex* const __restrict__ neighbors_index,
78 const TKernelIndex* const __restrict__ neighbors_kernel_index,
79 const TReal* const __restrict__ neighbors_importance,
80 const int64_t* const __restrict__ neighbors_row_splits,
81 const int num_kernel_elements,
82 bool normalize);
83
86template <class TReal, class TIndex, class TKernelIndex>
88 const cudaStream_t& stream,
89 TReal* columns,
90 int in_channels,
91 TIndex begin_idx,
92 TIndex end_idx,
93 TIndex num_out,
94 TIndex num_inp,
95 const TReal* const __restrict__ inp_features,
96 const TReal* const __restrict__ inp_neighbors_importance_sum,
97 const int64_t* const __restrict__ inp_neighbors_prefix_sum,
98 size_t neighbors_index_size,
99 const TIndex* const __restrict__ neighbors_index,
100 const TKernelIndex* const __restrict__ neighbors_kernel_index,
101 const TReal* const __restrict__ neighbors_importance,
102 const int64_t* const __restrict__ neighbors_row_splits,
103 const int num_kernel_elements,
104 bool normalize);
105
106} // namespace impl
107} // namespace ml
108} // namespace open3d
void FillColumnTranspose(const cudaStream_t &stream, TFeat *columns, int in_channels, TIndex begin_idx, TIndex end_idx, TIndex num_out, const TReal *const __restrict__ out_positions, TIndex num_inp, const TReal *const __restrict__ inp_positions, const TFeat *const __restrict__ inp_features, const TFeat *const __restrict__ inp_neighbors_importance_sum, const int64_t *const __restrict__ inp_neighbors_prefix_sum, size_t neighbors_index_size, const TIndex *const __restrict__ neighbors_index, const TFeat *const __restrict__ neighbors_importance, const int64_t *const __restrict__ neighbors_row_splits, const TReal *const __restrict__ extents, const TReal *const __restrict__ offsets, const std::vector< int > &filter_dims, InterpolationMode interpolation, CoordinateMapping coordinate_mapping, bool align_corners, bool individual_extent, bool isotropic_extent, bool normalize)
void FillColumn(const cudaStream_t &stream, TFeat *columns, int in_channels, TIndex begin_idx, TIndex end_idx, TIndex num_out, const TReal *const __restrict__ out_positions, TIndex num_inp, const TReal *const __restrict__ inp_positions, const TFeat *const __restrict__ inp_features, const TFeat *const __restrict__ inp_importance, size_t neighbors_index_size, const TIndex *const __restrict__ neighbors_index, const TFeat *const __restrict__ neighbors_importance, const int64_t *const __restrict__ neighbors_row_splits, const TReal *const __restrict__ extents, const TReal *const __restrict__ offsets, const std::vector< int > &filter_dims, InterpolationMode interpolation, CoordinateMapping coordinate_mapping, bool align_corners, bool individual_extent, bool isotropic_extent, bool normalize)
Definition: PinholeCameraIntrinsic.cpp:16