Open3D (C++ API)  0.17.0
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ContinuousConvCUDAKernels.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
10#include <vector>
11
13
14namespace open3d {
15namespace ml {
16namespace impl {
17
96template <class TFeat, class TReal, class TIndex>
97void FillColumn(const cudaStream_t& stream,
98 TFeat* columns,
99 int in_channels,
100 TIndex begin_idx,
101 TIndex end_idx,
102 TIndex num_out,
103 const TReal* const __restrict__ out_positions,
104 TIndex num_inp,
105 const TReal* const __restrict__ inp_positions,
106 const TFeat* const __restrict__ inp_features,
107 const TFeat* const __restrict__ inp_importance,
108 size_t neighbors_index_size,
109 const TIndex* const __restrict__ neighbors_index,
110 const TFeat* const __restrict__ neighbors_importance,
111 const int64_t* const __restrict__ neighbors_row_splits,
112 const TReal* const __restrict__ extents,
113 const TReal* const __restrict__ offsets,
114 const std::vector<int>& filter_dims,
115 InterpolationMode interpolation,
116 CoordinateMapping coordinate_mapping,
117 bool align_corners,
118 bool individual_extent,
119 bool isotropic_extent,
120 bool normalize);
121
122template <class TFeat, class TReal, class TIndex>
124 const cudaStream_t& stream,
125 TFeat* columns,
126 int in_channels,
127 TIndex begin_idx,
128 TIndex end_idx,
129 TIndex num_out,
130 const TReal* const __restrict__ out_positions,
131 TIndex num_inp,
132 const TReal* const __restrict__ inp_positions,
133 const TFeat* const __restrict__ inp_features,
134 const TFeat* const __restrict__ inp_neighbors_importance_sum,
135 const int64_t* const __restrict__ inp_neighbors_prefix_sum,
136 size_t neighbors_index_size,
137 const TIndex* const __restrict__ neighbors_index,
138 const TFeat* const __restrict__ neighbors_importance,
139 const int64_t* const __restrict__ neighbors_row_splits,
140 const TReal* const __restrict__ extents,
141 const TReal* const __restrict__ offsets,
142 const std::vector<int>& filter_dims,
143 InterpolationMode interpolation,
144 CoordinateMapping coordinate_mapping,
145 bool align_corners,
146 bool individual_extent,
147 bool isotropic_extent,
148 bool normalize);
149
157template <class T>
158void MultiplyColumns(const cudaStream_t& stream,
159 size_t rows,
160 size_t cols,
161 T* __restrict__ col_major_matrix,
162 const T* const __restrict__ vector);
163
173template <class T>
174void MultiplyAndCopyColumns(const cudaStream_t& stream,
175 size_t rows,
176 size_t cols,
177 T* __restrict__ out_ptr,
178 const T* const __restrict__ col_major_matrix,
179 const T* const __restrict__ vector);
180
181} // namespace impl
182} // namespace ml
183} // namespace open3d
InterpolationMode
Definition ContinuousConvTypes.h:18
void MultiplyAndCopyColumns(const cudaStream_t &stream, size_t rows, size_t cols, T *__restrict__ out_ptr, const T *const __restrict__ col_major_matrix, const T *const __restrict__ vector)
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 MultiplyColumns(const cudaStream_t &stream, size_t rows, size_t cols, T *__restrict__ col_major_matrix, const T *const __restrict__ vector)
CoordinateMapping
Definition ContinuousConvTypes.h:26
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