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78d2329 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 | #include "../cuda_utils.h"
#include "ball_query_cuda_kernel.h"
namespace ball_query_utils{
template <typename DType>
__device__ void swap(DType *x, DType *y)
{
DType tmp = *x;
*x = *y;
*y = tmp;
}
__device__ void reheap(float *dist, int *idx, int k)
{
int root = 0;
int child = root * 2 + 1;
while (child < k)
{
if(child + 1 < k && dist[child+1] > dist[child])
child++;
if(dist[root] > dist[child])
return;
swap<float>(&dist[root], &dist[child]);
swap<int>(&idx[root], &idx[child]);
root = child;
child = root * 2 + 1;
}
}
__device__ void heap_sort(float *dist, int *idx, int k)
{
int i;
for (i = k - 1; i > 0; i--)
{
swap<float>(&dist[0], &dist[i]);
swap<int>(&idx[0], &idx[i]);
reheap(dist, idx, i);
}
}
__device__ int get_bt_idx(int idx, const int *offset)
{
int i = 0;
while (1)
{
if (idx < offset[i])
break;
else
i++;
}
return i;
}
} // namespace ball_query_utils
__global__ void ball_query_cuda_kernel(int m, int nsample,
float min_radius, float max_radius,
const float *__restrict__ xyz, const float *__restrict__ new_xyz,
const int *__restrict__ offset, const int *__restrict__ new_offset,
int *__restrict__ idx, float *__restrict__ dist2) {
// input: xyz (n, 3) new_xyz (m, 3)
// output: idx (m, nsample) dist (m, nsample)
int pt_idx = blockIdx.x * blockDim.x + threadIdx.x;
if (pt_idx >= m) return;
new_xyz += pt_idx * 3;
idx += pt_idx * nsample;
dist2 += pt_idx * nsample;
int bt_idx = ball_query_utils::get_bt_idx(pt_idx, new_offset);
int start;
if (bt_idx == 0)
start = 0;
else
start = offset[bt_idx - 1];
int end = offset[bt_idx];
float max_radius2 = max_radius * max_radius;
float min_radius2 = min_radius * min_radius;
float new_x = new_xyz[0];
float new_y = new_xyz[1];
float new_z = new_xyz[2];
float candi_dist[2048];
int candi_idx[2048];
int candi_num = 0;
for(int i = start; i < end; i++){
float x = xyz[i * 3 + 0];
float y = xyz[i * 3 + 1];
float z = xyz[i * 3 + 2];
float d2 = (new_x - x) * (new_x - x) + (new_y - y) * (new_y - y) + (new_z - z) * (new_z - z);
if (d2 <= 1e-5 || (d2 >= min_radius2 && d2 < max_radius2)){
// TODO: Check d2 <= 1e-5
candi_dist[candi_num] = d2;
candi_idx[candi_num] = i;
candi_num += 1;
}
}
ball_query_utils::heap_sort(candi_dist, candi_idx, candi_num);
if(candi_num <= nsample){
for(int i = 0; i < candi_num; i++){
idx[i] = candi_idx[i];
dist2[i] = candi_dist[i];
}
for(int i = candi_num; i < nsample; i++){
idx[i] = -1;
dist2[i] = 1e10;
}
}
else{
float sep = static_cast<float>(candi_num) / nsample;
for(int i = 0; i < nsample; i++)
{
int index = static_cast<int>(sep * i);
idx[i] = candi_idx[index];
dist2[i] = candi_idx[index];
}
}
}
/* Random Sample Mode Ball Query */
// __global__ void ball_query_cuda_kernel(int m, int nsample,
// float min_radius, float max_radius,
// const float *__restrict__ xyz, const float *__restrict__ new_xyz,
// const int *__restrict__ offset, const int *__restrict__ new_offset,
// int *__restrict__ idx, float *__restrict__ dist2) {
// // input: xyz (n, 3) new_xyz (m, 3)
// // output: idx (m, nsample) dist (m, nsample)
// int pt_idx = blockIdx.x * blockDim.x + threadIdx.x;
// if (pt_idx >= m) return;
//
// new_xyz += pt_idx * 3;
// idx += pt_idx * nsample;
// dist2 += pt_idx * nsample;
//
// int bt_idx = ball_get_bt_idx(pt_idx, new_offset);
// int start;
// if (bt_idx == 0)
// start = 0;
// else
// start = offset[bt_idx - 1];
// int end = offset[bt_idx];
//
// float max_radius2 = max_radius * max_radius;
// float min_radius2 = min_radius * min_radius;
// float new_x = new_xyz[0];
// float new_y = new_xyz[1];
// float new_z = new_xyz[2];
//
// int cnt = 0;
// for(int i = start; i < end; i++){
// float x = xyz[i * 3 + 0];
// float y = xyz[i * 3 + 1];
// float z = xyz[i * 3 + 2];
// float d2 = (new_x - x) * (new_x - x) + (new_y - y) * (new_y - y) + (new_z - z) * (new_z - z);
//
// if (d2 == 0 || (d2 >= min_radius2 && d2 < max_radius2)) {
// if (cnt == 0) {
// for (int l = 0; l < nsample; ++l) {
// idx[l] = i;
// dist2[l] = d2;
// }
// }
// idx[cnt] = i;
// ++cnt;
// if (cnt >= nsample) break;
// }
// }
// }
void ball_query_cuda_launcher(int m, int nsample,
float min_radius, float max_radius,
const float *xyz, const float *new_xyz,
const int *offset, const int *new_offset,
int *idx, float *dist2) {
// input: new_xyz: (m, 3), xyz: (n, 3), idx: (m, nsample)
dim3 blocks(DIVUP(m, THREADS_PER_BLOCK));
dim3 threads(THREADS_PER_BLOCK);
ball_query_cuda_kernel<<<blocks, threads, 0>>>(m, nsample,
min_radius, max_radius,
xyz, new_xyz,
offset, new_offset,
idx, dist2);
}
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