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cudabind.cpp
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cudabind.cpp
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#include "pytorch_cpp_helper.hpp"
#include "pytorch_device_registry.hpp"
void AssignScoreWithKForwardCUDAKernelLauncher(
int B, int N0, int N1, int M, int K, int O, int aggregate,
const Tensor& points, const Tensor& centers, const Tensor& scores,
const Tensor& knn_idx, Tensor& output);
void AssignScoreWithKBackwardCUDAKernelLauncher(
int B, int N0, int N1, int M, int K, int O, int aggregate,
const Tensor& grad_out, const Tensor& points, const Tensor& centers,
const Tensor& scores, const Tensor& knn_idx, Tensor& grad_points,
Tensor& grad_centers, Tensor& grad_scores);
void assign_score_withk_forward_cuda(int B, int N0, int N1, int M, int K, int O,
int aggregate, const Tensor& points,
const Tensor& centers,
const Tensor& scores,
const Tensor& knn_idx, Tensor& output) {
AssignScoreWithKForwardCUDAKernelLauncher(
B, N0, N1, M, K, O, aggregate, points, centers, scores, knn_idx, output);
};
void assign_score_withk_backward_cuda(
int B, int N0, int N1, int M, int K, int O, int aggregate,
const Tensor& grad_out, const Tensor& points, const Tensor& centers,
const Tensor& scores, const Tensor& knn_idx, Tensor& grad_points,
Tensor& grad_centers, Tensor& grad_scores) {
AssignScoreWithKBackwardCUDAKernelLauncher(
B, N0, N1, M, K, O, aggregate, grad_out, points, centers, scores, knn_idx,
grad_points, grad_centers, grad_scores);
};
void assign_score_withk_forward_impl(int B, int N0, int N1, int M, int K, int O,
int aggregate, const Tensor& points,
const Tensor& centers,
const Tensor& scores,
const Tensor& knn_idx, Tensor& output);
void assign_score_withk_backward_impl(
int B, int N0, int N1, int M, int K, int O, int aggregate,
const Tensor& grad_out, const Tensor& points, const Tensor& centers,
const Tensor& scores, const Tensor& knn_idx, Tensor& grad_points,
Tensor& grad_centers, Tensor& grad_scores);
REGISTER_DEVICE_IMPL(assign_score_withk_forward_impl, CUDA,
assign_score_withk_forward_cuda);
REGISTER_DEVICE_IMPL(assign_score_withk_backward_impl, CUDA,
assign_score_withk_backward_cuda);
void BallQueryForwardCUDAKernelLauncher(int b, int n, int m, float min_radius,
float max_radius, int nsample,
const Tensor new_xyz, const Tensor xyz,
Tensor idx);
void ball_query_forward_cuda(int b, int n, int m, float min_radius,
float max_radius, int nsample,
const Tensor new_xyz, const Tensor xyz,
Tensor idx) {
BallQueryForwardCUDAKernelLauncher(b, n, m, min_radius, max_radius, nsample,
new_xyz, xyz, idx);
};
void ball_query_forward_impl(int b, int n, int m, float min_radius,
float max_radius, int nsample,
const Tensor new_xyz, const Tensor xyz,
Tensor idx);
REGISTER_DEVICE_IMPL(ball_query_forward_impl, CUDA, ball_query_forward_cuda);
void BBoxOverlapsCUDAKernelLauncher(const Tensor bboxes1, const Tensor bboxes2,
Tensor ious, const int mode,
const bool aligned, const int offset);
void bbox_overlaps_cuda(const Tensor bboxes1, const Tensor bboxes2, Tensor ious,
const int mode, const bool aligned, const int offset) {
BBoxOverlapsCUDAKernelLauncher(bboxes1, bboxes2, ious, mode, aligned, offset);
}
void bbox_overlaps_impl(const Tensor bboxes1, const Tensor bboxes2, Tensor ious,
const int mode, const bool aligned, const int offset);
REGISTER_DEVICE_IMPL(bbox_overlaps_impl, CUDA, bbox_overlaps_cuda);
void BorderAlignForwardCUDAKernelLauncher(const Tensor& input,
const Tensor& boxes, Tensor output,
Tensor argmax_idx,
const int pool_size);
void BorderAlignBackwardCUDAKernelLauncher(const Tensor& grad_output,
const Tensor& boxes,
const Tensor& argmax_idx,
Tensor grad_input,
const int pool_size);
void border_align_forward_cuda(const Tensor& input, const Tensor& boxes,
Tensor output, Tensor argmax_idx,
const int pool_size) {
BorderAlignForwardCUDAKernelLauncher(input, boxes, output, argmax_idx,
pool_size);
}
void border_align_backward_cuda(const Tensor& grad_output, const Tensor& boxes,
const Tensor& argmax_idx, Tensor grad_input,
const int pool_size) {
BorderAlignBackwardCUDAKernelLauncher(grad_output, boxes, argmax_idx,
grad_input, pool_size);
}
void border_align_forward_impl(const Tensor& input, const Tensor& boxes,
Tensor output, Tensor argmax_idx,
const int pool_size);
void border_align_backward_impl(const Tensor& grad_output, const Tensor& boxes,
const Tensor& argmax_idx, Tensor grad_input,
const int pool_size);
REGISTER_DEVICE_IMPL(border_align_forward_impl, CUDA,
border_align_forward_cuda);
REGISTER_DEVICE_IMPL(border_align_backward_impl, CUDA,
border_align_backward_cuda);
void box_iou_rotated_cuda(const Tensor boxes1, const Tensor boxes2, Tensor ious,
const int mode_flag, const bool aligned);
void box_iou_rotated_impl(const Tensor boxes1, const Tensor boxes2, Tensor ious,
const int mode_flag, const bool aligned);
REGISTER_DEVICE_IMPL(box_iou_rotated_impl, CUDA, box_iou_rotated_cuda);
void CARAFEForwardCUDAKernelLauncher(const Tensor features, const Tensor masks,
Tensor rfeatures, Tensor routput,
Tensor rmasks, Tensor output,
const int kernel_size,
const int group_size,
const int scale_factor);
void CARAFEBackwardCUDAKernelLauncher(
const Tensor top_grad, const Tensor rfeatures, const Tensor masks,
Tensor rtop_grad, Tensor rbottom_grad_hs, Tensor rbottom_grad,
Tensor rmask_grad, Tensor bottom_grad, Tensor mask_grad,
const int kernel_size, const int group_size, const int scale_factor);
void carafe_forward_cuda(Tensor features, Tensor masks, Tensor rfeatures,
Tensor routput, Tensor rmasks, Tensor output,
int kernel_size, int group_size, int scale_factor) {
CARAFEForwardCUDAKernelLauncher(features, masks, rfeatures, routput, rmasks,
output, kernel_size, group_size,
scale_factor);
}
void carafe_backward_cuda(Tensor top_grad, Tensor rfeatures, Tensor masks,
Tensor rtop_grad, Tensor rbottom_grad_hs,
Tensor rbottom_grad, Tensor rmask_grad,
Tensor bottom_grad, Tensor mask_grad, int kernel_size,
int group_size, int scale_factor) {
CARAFEBackwardCUDAKernelLauncher(top_grad, rfeatures, masks, rtop_grad,
rbottom_grad_hs, rbottom_grad, rmask_grad,
bottom_grad, mask_grad, kernel_size,
group_size, scale_factor);
}
void carafe_forward_impl(Tensor features, Tensor masks, Tensor rfeatures,
Tensor routput, Tensor rmasks, Tensor output,
int kernel_size, int group_size, int scale_factor);
void carafe_backward_impl(Tensor top_grad, Tensor rfeatures, Tensor masks,
Tensor rtop_grad, Tensor rbottom_grad_hs,
Tensor rbottom_grad, Tensor rmask_grad,
Tensor bottom_grad, Tensor mask_grad, int kernel_size,
int group_size, int scale_factor);
REGISTER_DEVICE_IMPL(carafe_forward_impl, CUDA, carafe_forward_cuda);
REGISTER_DEVICE_IMPL(carafe_backward_impl, CUDA, carafe_backward_cuda);
void CARAFENAIVEForwardCUDAKernelLauncher(const Tensor features,
const Tensor masks, Tensor output,
const int kernel_size,
const int group_size,
const int scale_factor);
void CARAFENAIVEBackwardCUDAKernelLauncher(
const Tensor top_grad, const Tensor features, const Tensor masks,
Tensor bottom_grad, Tensor mask_grad, const int kernel_size,
const int group_size, const int scale_factor);
void carafe_naive_forward_cuda(Tensor features, Tensor masks, Tensor output,
int kernel_size, int group_size,
int scale_factor) {
CARAFENAIVEForwardCUDAKernelLauncher(features, masks, output, kernel_size,
group_size, scale_factor);
}
void carafe_naive_backward_cuda(Tensor top_grad, Tensor features, Tensor masks,
Tensor bottom_grad, Tensor mask_grad,
int kernel_size, int group_size,
int scale_factor) {
CARAFENAIVEBackwardCUDAKernelLauncher(top_grad, features, masks, bottom_grad,
mask_grad, kernel_size, group_size,
scale_factor);
}
void carafe_naive_forward_impl(Tensor features, Tensor masks, Tensor output,
int kernel_size, int group_size,
int scale_factor);
void carafe_naive_backward_impl(Tensor top_grad, Tensor features, Tensor masks,
Tensor bottom_grad, Tensor mask_grad,
int kernel_size, int group_size,
int scale_factor);
REGISTER_DEVICE_IMPL(carafe_naive_forward_impl, CUDA,
carafe_naive_forward_cuda);
REGISTER_DEVICE_IMPL(carafe_naive_backward_impl, CUDA,
carafe_naive_backward_cuda);
void CorrelationForwardCUDAKernelLauncher(Tensor input1, Tensor input2,
Tensor output, int kH, int kW,
int patchH, int patchW, int padH,
int padW, int dilationH,
int dilationW, int dilation_patchH,
int dilation_patchW, int dH, int dW);
void CorrelationBackwardCUDAKernelLauncher(Tensor grad_output, Tensor input1,
Tensor input2, Tensor grad_input1,
Tensor grad_input2, int kH, int kW,
int patchH, int patchW, int padH,
int padW, int dilationH,
int dilationW, int dilation_patchH,
int dilation_patchW, int dH, int dW);
void correlation_forward_cuda(Tensor input1, Tensor input2, Tensor output,
int kH, int kW, int patchH, int patchW, int padH,
int padW, int dilationH, int dilationW,
int dilation_patchH, int dilation_patchW, int dH,
int dW) {
CorrelationForwardCUDAKernelLauncher(
input1, input2, output, kH, kW, patchH, patchW, padH, padW, dilationH,
dilationW, dilation_patchH, dilation_patchW, dH, dW);
}
void correlation_backward_cuda(Tensor grad_output, Tensor input1, Tensor input2,
Tensor grad_input1, Tensor grad_input2, int kH,
int kW, int patchH, int patchW, int padH,
int padW, int dilationH, int dilationW,
int dilation_patchH, int dilation_patchW, int dH,
int dW) {
CorrelationBackwardCUDAKernelLauncher(
grad_output, input1, input2, grad_input1, grad_input2, kH, kW, patchH,
patchW, padH, padW, dilationH, dilationW, dilation_patchH,
dilation_patchW, dH, dW);
}
void correlation_forward_impl(Tensor input1, Tensor input2, Tensor output,
int kH, int kW, int patchH, int patchW, int padH,
int padW, int dilationH, int dilationW,
int dilation_patchH, int dilation_patchW, int dH,
int dW);
void correlation_backward_impl(Tensor grad_output, Tensor input1, Tensor input2,
Tensor grad_input1, Tensor grad_input2, int kH,
int kW, int patchH, int patchW, int padH,
int padW, int dilationH, int dilationW,
int dilation_patchH, int dilation_patchW, int dH,
int dW);
REGISTER_DEVICE_IMPL(correlation_forward_impl, CUDA, correlation_forward_cuda);
REGISTER_DEVICE_IMPL(correlation_backward_impl, CUDA,
correlation_backward_cuda);
void deformable_im2col_cuda(Tensor data_im, Tensor data_offset,
const int channels, const int height,
const int width, const int ksize_h,
const int ksize_w, const int pad_h, const int pad_w,
const int stride_h, const int stride_w,
const int dilation_h, const int dilation_w,
const int parallel_imgs, const int deformable_group,
Tensor data_col);
void deformable_col2im_cuda(Tensor data_col, Tensor data_offset,
const int channels, const int height,
const int width, const int ksize_h,
const int ksize_w, const int pad_h, const int pad_w,
const int stride_h, const int stride_w,
const int dilation_h, const int dilation_w,
const int parallel_imgs, const int deformable_group,
Tensor grad_im);
void deformable_col2im_coord_cuda(
Tensor data_col, Tensor data_im, Tensor data_offset, const int channels,
const int height, const int width, const int ksize_h, const int ksize_w,
const int pad_h, const int pad_w, const int stride_h, const int stride_w,
const int dilation_h, const int dilation_w, const int parallel_imgs,
const int deformable_group, Tensor grad_offset);
void deformable_im2col_impl(Tensor data_im, Tensor data_offset,
const int channels, const int height,
const int width, const int ksize_h,
const int ksize_w, const int pad_h, const int pad_w,
const int stride_h, const int stride_w,
const int dilation_h, const int dilation_w,
const int parallel_imgs, const int deformable_group,
Tensor data_col);
void deformable_col2im_impl(Tensor data_col, Tensor data_offset,
const int channels, const int height,
const int width, const int ksize_h,
const int ksize_w, const int pad_h, const int pad_w,
const int stride_h, const int stride_w,
const int dilation_h, const int dilation_w,
const int parallel_imgs, const int deformable_group,
Tensor grad_im);
void deformable_col2im_coord_impl(
Tensor data_col, Tensor data_im, Tensor data_offset, const int channels,
const int height, const int width, const int ksize_h, const int ksize_w,
const int pad_h, const int pad_w, const int stride_h, const int stride_w,
const int dilation_h, const int dilation_w, const int parallel_imgs,
const int deformable_group, Tensor grad_offset);
REGISTER_DEVICE_IMPL(deformable_im2col_impl, CUDA, deformable_im2col_cuda);
REGISTER_DEVICE_IMPL(deformable_col2im_impl, CUDA, deformable_col2im_cuda);
REGISTER_DEVICE_IMPL(deformable_col2im_coord_impl, CUDA,
deformable_col2im_coord_cuda);
void DeformRoIPoolForwardCUDAKernelLauncher(Tensor input, Tensor rois,
Tensor offset, Tensor output,
int pooled_height, int pooled_width,
float spatial_scale,
int sampling_ratio, float gamma);
void DeformRoIPoolBackwardCUDAKernelLauncher(
Tensor grad_output, Tensor input, Tensor rois, Tensor offset,
Tensor grad_input, Tensor grad_offset, int pooled_height, int pooled_width,
float spatial_scale, int sampling_ratio, float gamma);
void deform_roi_pool_forward_cuda(Tensor input, Tensor rois, Tensor offset,
Tensor output, int pooled_height,
int pooled_width, float spatial_scale,
int sampling_ratio, float gamma) {
DeformRoIPoolForwardCUDAKernelLauncher(input, rois, offset, output,
pooled_height, pooled_width,
spatial_scale, sampling_ratio, gamma);
}
void deform_roi_pool_backward_cuda(Tensor grad_output, Tensor input,
Tensor rois, Tensor offset,
Tensor grad_input, Tensor grad_offset,
int pooled_height, int pooled_width,
float spatial_scale, int sampling_ratio,
float gamma) {
DeformRoIPoolBackwardCUDAKernelLauncher(
grad_output, input, rois, offset, grad_input, grad_offset, pooled_height,
pooled_width, spatial_scale, sampling_ratio, gamma);
}
void deform_roi_pool_forward_impl(Tensor input, Tensor rois, Tensor offset,
Tensor output, int pooled_height,
int pooled_width, float spatial_scale,
int sampling_ratio, float gamma);
void deform_roi_pool_backward_impl(Tensor grad_output, Tensor input,
Tensor rois, Tensor offset,
Tensor grad_input, Tensor grad_offset,
int pooled_height, int pooled_width,
float spatial_scale, int sampling_ratio,
float gamma);
REGISTER_DEVICE_IMPL(deform_roi_pool_forward_impl, CUDA,
deform_roi_pool_forward_cuda);
REGISTER_DEVICE_IMPL(deform_roi_pool_backward_impl, CUDA,
deform_roi_pool_backward_cuda);
void SigmoidFocalLossForwardCUDAKernelLauncher(Tensor input, Tensor target,
Tensor weight, Tensor output,
const float gamma,
const float alpha);
void SigmoidFocalLossBackwardCUDAKernelLauncher(Tensor input, Tensor target,
Tensor weight,
Tensor grad_input,
const float gamma,
const float alpha);
void SoftmaxFocalLossForwardCUDAKernelLauncher(Tensor softmax, Tensor target,
Tensor weight, Tensor output,
const float gamma,
const float alpha);
void SoftmaxFocalLossBackwardCUDAKernelLauncher(Tensor softmax, Tensor target,
Tensor weight, Tensor buff,
Tensor grad_input,
const float gamma,
const float alpha);
void sigmoid_focal_loss_forward_cuda(Tensor input, Tensor target, Tensor weight,
Tensor output, float gamma, float alpha) {
SigmoidFocalLossForwardCUDAKernelLauncher(input, target, weight, output,
gamma, alpha);
}
void sigmoid_focal_loss_backward_cuda(Tensor input, Tensor target,
Tensor weight, Tensor grad_input,
float gamma, float alpha) {
SigmoidFocalLossBackwardCUDAKernelLauncher(input, target, weight, grad_input,
gamma, alpha);
}
void softmax_focal_loss_forward_cuda(Tensor input, Tensor target, Tensor weight,
Tensor output, float gamma, float alpha) {
SoftmaxFocalLossForwardCUDAKernelLauncher(input, target, weight, output,
gamma, alpha);
}
void softmax_focal_loss_backward_cuda(Tensor input, Tensor target,
Tensor weight, Tensor buff,
Tensor grad_input, float gamma,
float alpha) {
SoftmaxFocalLossBackwardCUDAKernelLauncher(input, target, weight, buff,
grad_input, gamma, alpha);
}
void sigmoid_focal_loss_forward_impl(Tensor input, Tensor target, Tensor weight,
Tensor output, float gamma, float alpha);
void sigmoid_focal_loss_backward_impl(Tensor input, Tensor target,
Tensor weight, Tensor grad_input,
float gamma, float alpha);
void softmax_focal_loss_forward_impl(Tensor input, Tensor target, Tensor weight,
Tensor output, float gamma, float alpha);
void softmax_focal_loss_backward_impl(Tensor input, Tensor target,
Tensor weight, Tensor buff,
Tensor grad_input, float gamma,
float alpha);
REGISTER_DEVICE_IMPL(sigmoid_focal_loss_forward_impl, CUDA,
sigmoid_focal_loss_forward_cuda);
REGISTER_DEVICE_IMPL(sigmoid_focal_loss_backward_impl, CUDA,
sigmoid_focal_loss_backward_cuda);
REGISTER_DEVICE_IMPL(softmax_focal_loss_forward_impl, CUDA,
softmax_focal_loss_forward_cuda);
REGISTER_DEVICE_IMPL(softmax_focal_loss_backward_impl, CUDA,
softmax_focal_loss_backward_cuda);
void FurthestPointSamplingForwardCUDAKernelLauncher(int b, int n, int m,
const float* dataset,
float* temp, int* idxs);
void FurthestPointSamplingWithDistForwardCUDAKernelLauncher(
int b, int n, int m, const float* dataset, float* temp, int* idxs);
void furthest_point_sampling_forward_cuda(Tensor points_tensor,
Tensor temp_tensor, Tensor idx_tensor,
int b, int n, int m) {
const float* dataset = points_tensor.data_ptr<float>();
float* temp = temp_tensor.data_ptr<float>();
int* idxs = idx_tensor.data_ptr<int>();
FurthestPointSamplingForwardCUDAKernelLauncher(b, n, m, dataset, temp, idxs);
}
void furthest_point_sampling_with_dist_forward_cuda(Tensor points_tensor,
Tensor temp_tensor,
Tensor idx_tensor, int b,
int n, int m) {
const float* dataset = points_tensor.data_ptr<float>();
float* temp = temp_tensor.data_ptr<float>();
int* idxs = idx_tensor.data_ptr<int>();
FurthestPointSamplingWithDistForwardCUDAKernelLauncher(b, n, m, dataset, temp,
idxs);
}
void furthest_point_sampling_forward_impl(Tensor points_tensor,
Tensor temp_tensor, Tensor idx_tensor,
int b, int n, int m);
void furthest_point_sampling_with_dist_forward_impl(Tensor points_tensor,
Tensor temp_tensor,
Tensor idx_tensor, int b,
int n, int m);
REGISTER_DEVICE_IMPL(furthest_point_sampling_forward_impl, CUDA,
furthest_point_sampling_forward_cuda);
REGISTER_DEVICE_IMPL(furthest_point_sampling_with_dist_forward_impl, CUDA,
furthest_point_sampling_with_dist_forward_cuda);
torch::Tensor fused_bias_leakyrelu_op(const torch::Tensor& input,
const torch::Tensor& bias,
const torch::Tensor& refer, int act,
int grad, float alpha, float scale);
torch::Tensor fused_bias_leakyrelu_op_impl(const torch::Tensor& input,
const torch::Tensor& bias,
const torch::Tensor& refer, int act,
int grad, float alpha, float scale);
REGISTER_DEVICE_IMPL(fused_bias_leakyrelu_op_impl, CUDA,
fused_bias_leakyrelu_op);
void GatherPointsForwardCUDAKernelLauncher(int b, int c, int n, int npoints,
const Tensor points,
const Tensor idx, Tensor out);
void GatherPointsBackwardCUDAKernelLauncher(int b, int c, int n, int npoints,
const Tensor grad_out,
const Tensor idx,
Tensor grad_points);
void gather_points_forward_cuda(int b, int c, int n, int npoints,
const Tensor points, const Tensor idx,
Tensor out) {
GatherPointsForwardCUDAKernelLauncher(b, c, n, npoints, points, idx, out);
};
void gather_points_backward_cuda(int b, int c, int n, int npoints,
const Tensor grad_out, const Tensor idx,
Tensor grad_points) {
GatherPointsBackwardCUDAKernelLauncher(b, c, n, npoints, grad_out, idx,
grad_points);
};
void gather_points_forward_impl(int b, int c, int n, int npoints,
const Tensor points, const Tensor idx,
Tensor out);
void gather_points_backward_impl(int b, int c, int n, int npoints,
const Tensor grad_out, const Tensor idx,
Tensor grad_points);
REGISTER_DEVICE_IMPL(gather_points_forward_impl, CUDA,
gather_points_forward_cuda);
REGISTER_DEVICE_IMPL(gather_points_backward_impl, CUDA,
gather_points_backward_cuda);
void GroupPointsForwardCUDAKernelLauncher(int b, int c, int n, int npoints,
int nsample, const Tensor points,
const Tensor idx, Tensor out);
void GroupPointsBackwardCUDAKernelLauncher(int b, int c, int n, int npoints,
int nsample, const Tensor grad_out,
const Tensor idx,
Tensor grad_points);
void group_points_forward_cuda(int b, int c, int n, int npoints, int nsample,
const Tensor points, const Tensor idx,
Tensor out) {
GroupPointsForwardCUDAKernelLauncher(b, c, n, npoints, nsample, points, idx,
out);
};
void group_points_backward_cuda(int b, int c, int n, int npoints, int nsample,
const Tensor grad_out, const Tensor idx,
Tensor grad_points) {
GroupPointsBackwardCUDAKernelLauncher(b, c, n, npoints, nsample, grad_out,
idx, grad_points);
};
void group_points_forward_impl(int b, int c, int n, int npoints, int nsample,
const Tensor points, const Tensor idx,
Tensor out);
void group_points_backward_impl(int b, int c, int n, int npoints, int nsample,
const Tensor grad_out, const Tensor idx,
Tensor grad_points);
REGISTER_DEVICE_IMPL(group_points_forward_impl, CUDA,
group_points_forward_cuda);
REGISTER_DEVICE_IMPL(group_points_backward_impl, CUDA,
group_points_backward_cuda);
void IoU3DBoxesOverlapBevForwardCUDAKernelLauncher(const int num_a,
const Tensor boxes_a,
const int num_b,
const Tensor boxes_b,
Tensor ans_overlap);
void IoU3DBoxesIoUBevForwardCUDAKernelLauncher(const int num_a,
const Tensor boxes_a,
const int num_b,
const Tensor boxes_b,
Tensor ans_iou);
void IoU3DNMSForwardCUDAKernelLauncher(const Tensor boxes,
unsigned long long* mask, int boxes_num,
float nms_overlap_thresh);
void IoU3DNMSNormalForwardCUDAKernelLauncher(const Tensor boxes,
unsigned long long* mask,
int boxes_num,
float nms_overlap_thresh);
void iou3d_boxes_overlap_bev_forward_cuda(const int num_a, const Tensor boxes_a,
const int num_b, const Tensor boxes_b,
Tensor ans_overlap) {
IoU3DBoxesOverlapBevForwardCUDAKernelLauncher(num_a, boxes_a, num_b, boxes_b,
ans_overlap);
};
void iou3d_boxes_iou_bev_forward_cuda(const int num_a, const Tensor boxes_a,
const int num_b, const Tensor boxes_b,
Tensor ans_iou) {
IoU3DBoxesIoUBevForwardCUDAKernelLauncher(num_a, boxes_a, num_b, boxes_b,
ans_iou);
};
void iou3d_nms_forward_cuda(const Tensor boxes, unsigned long long* mask,
int boxes_num, float nms_overlap_thresh) {
IoU3DNMSForwardCUDAKernelLauncher(boxes, mask, boxes_num, nms_overlap_thresh);
};
void iou3d_nms_normal_forward_cuda(const Tensor boxes, unsigned long long* mask,
int boxes_num, float nms_overlap_thresh) {
IoU3DNMSNormalForwardCUDAKernelLauncher(boxes, mask, boxes_num,
nms_overlap_thresh);
};
void iou3d_boxes_overlap_bev_forward_impl(const int num_a, const Tensor boxes_a,
const int num_b, const Tensor boxes_b,
Tensor ans_overlap);
void iou3d_boxes_iou_bev_forward_impl(const int num_a, const Tensor boxes_a,
const int num_b, const Tensor boxes_b,
Tensor ans_iou);
void iou3d_nms_forward_impl(const Tensor boxes, unsigned long long* mask,
int boxes_num, float nms_overlap_thresh);
void iou3d_nms_normal_forward_impl(const Tensor boxes, unsigned long long* mask,
int boxes_num, float nms_overlap_thresh);
REGISTER_DEVICE_IMPL(iou3d_boxes_overlap_bev_forward_impl, CUDA,
iou3d_boxes_overlap_bev_forward_cuda);
REGISTER_DEVICE_IMPL(iou3d_boxes_iou_bev_forward_impl, CUDA,
iou3d_boxes_iou_bev_forward_cuda);
REGISTER_DEVICE_IMPL(iou3d_nms_forward_impl, CUDA, iou3d_nms_forward_cuda);
REGISTER_DEVICE_IMPL(iou3d_nms_normal_forward_impl, CUDA,
iou3d_nms_normal_forward_cuda);
void KNNForwardCUDAKernelLauncher(int b, int n, int m, int nsample,
const Tensor xyz, const Tensor new_xyz,
Tensor idx, Tensor dist2);
void knn_forward_cuda(int b, int n, int m, int nsample, const Tensor xyz,
const Tensor new_xyz, Tensor idx, Tensor dist2) {
KNNForwardCUDAKernelLauncher(b, n, m, nsample, xyz, new_xyz, idx, dist2);
}
void knn_forward_impl(int b, int n, int m, int nsample, const Tensor xyz,
const Tensor new_xyz, Tensor idx, Tensor dist2);
REGISTER_DEVICE_IMPL(knn_forward_impl, CUDA, knn_forward_cuda);
void MaskedIm2colForwardCUDAKernelLauncher(const Tensor bottom_data,
const Tensor mask_h_idx,
const Tensor mask_w_idx,
Tensor top_data, const int kernel_h,
const int kernel_w, const int pad_h,
const int pad_w);
void MaskedCol2imForwardCUDAKernelLauncher(const Tensor bottom_data,
const Tensor mask_h_idx,
const Tensor mask_w_idx,
Tensor top_data, const int height,
const int width, const int channels);
void masked_im2col_forward_cuda(const Tensor im, const Tensor mask_h_idx,
const Tensor mask_w_idx, Tensor col,
const int kernel_h, const int kernel_w,
const int pad_h, const int pad_w) {
// im: (n, ic, h, w), kernel size (kh, kw)
// kernel: (oc, ic * kh * kw), col: (kh * kw * ic, ow * oh)
MaskedIm2colForwardCUDAKernelLauncher(im, mask_h_idx, mask_w_idx, col,
kernel_h, kernel_w, pad_h, pad_w);
}
void masked_col2im_forward_cuda(const Tensor col, const Tensor mask_h_idx,
const Tensor mask_w_idx, Tensor im, int height,
int width, int channels) {
// im: (n, ic, h, w), kernel size (kh, kw)
// kernel: (oc, ic * kh * kh), col: (kh * kw * ic, ow * oh)
MaskedCol2imForwardCUDAKernelLauncher(col, mask_h_idx, mask_w_idx, im, height,
width, channels);
}
void masked_im2col_forward_impl(const Tensor im, const Tensor mask_h_idx,
const Tensor mask_w_idx, Tensor col,
const int kernel_h, const int kernel_w,
const int pad_h, const int pad_w);
void masked_col2im_forward_impl(const Tensor col, const Tensor mask_h_idx,
const Tensor mask_w_idx, Tensor im, int height,
int width, int channels);
REGISTER_DEVICE_IMPL(masked_im2col_forward_impl, CUDA,
masked_im2col_forward_cuda);
REGISTER_DEVICE_IMPL(masked_col2im_forward_impl, CUDA,
masked_col2im_forward_cuda);
void modulated_deformable_im2col_cuda(
const Tensor data_im, const Tensor data_offset, const Tensor data_mask,
const int batch_size, const int channels, const int height_im,
const int width_im, const int height_col, const int width_col,
const int kernel_h, const int kernel_w, const int pad_h, const int pad_w,
const int stride_h, const int stride_w, const int dilation_h,
const int dilation_w, const int deformable_group, Tensor data_col);
void modulated_deformable_col2im_cuda(
const Tensor data_col, const Tensor data_offset, const Tensor data_mask,
const int batch_size, const int channels, const int height_im,
const int width_im, const int height_col, const int width_col,
const int kernel_h, const int kernel_w, const int pad_h, const int pad_w,
const int stride_h, const int stride_w, const int dilation_h,
const int dilation_w, const int deformable_group, Tensor grad_im);
void modulated_deformable_col2im_coord_cuda(
const Tensor data_col, const Tensor data_im, const Tensor data_offset,
const Tensor data_mask, const int batch_size, const int channels,
const int height_im, const int width_im, const int height_col,
const int width_col, const int kernel_h, const int kernel_w,
const int pad_h, const int pad_w, const int stride_h, const int stride_w,
const int dilation_h, const int dilation_w, const int deformable_group,
Tensor grad_offset, Tensor grad_mask);
void modulated_deformable_im2col_impl(
const Tensor data_im, const Tensor data_offset, const Tensor data_mask,
const int batch_size, const int channels, const int height_im,
const int width_im, const int height_col, const int width_col,
const int kernel_h, const int kernel_w, const int pad_h, const int pad_w,
const int stride_h, const int stride_w, const int dilation_h,
const int dilation_w, const int deformable_group, Tensor data_col);
void modulated_deformable_col2im_impl(
const Tensor data_col, const Tensor data_offset, const Tensor data_mask,
const int batch_size, const int channels, const int height_im,
const int width_im, const int height_col, const int width_col,
const int kernel_h, const int kernel_w, const int pad_h, const int pad_w,
const int stride_h, const int stride_w, const int dilation_h,
const int dilation_w, const int deformable_group, Tensor grad_im);
void modulated_deformable_col2im_coord_impl(
const Tensor data_col, const Tensor data_im, const Tensor data_offset,
const Tensor data_mask, const int batch_size, const int channels,
const int height_im, const int width_im, const int height_col,
const int width_col, const int kernel_h, const int kernel_w,
const int pad_h, const int pad_w, const int stride_h, const int stride_w,
const int dilation_h, const int dilation_w, const int deformable_group,
Tensor grad_offset, Tensor grad_mask);
REGISTER_DEVICE_IMPL(modulated_deformable_im2col_impl, CUDA,
modulated_deformable_im2col_cuda);
REGISTER_DEVICE_IMPL(modulated_deformable_col2im_impl, CUDA,
modulated_deformable_col2im_cuda);
REGISTER_DEVICE_IMPL(modulated_deformable_col2im_coord_impl, CUDA,
modulated_deformable_col2im_coord_cuda);
Tensor ms_deform_attn_cuda_forward(const Tensor& value,
const Tensor& spatial_shapes,
const Tensor& level_start_index,
const Tensor& sampling_loc,
const Tensor& attn_weight,
const int im2col_step);
void ms_deform_attn_cuda_backward(
const Tensor& value, const Tensor& spatial_shapes,
const Tensor& level_start_index, const Tensor& sampling_loc,
const Tensor& attn_weight, const Tensor& grad_output, Tensor& grad_value,
Tensor& grad_sampling_loc, Tensor& grad_attn_weight, const int im2col_step);
Tensor ms_deform_attn_impl_forward(const Tensor& value,
const Tensor& spatial_shapes,
const Tensor& level_start_index,
const Tensor& sampling_loc,
const Tensor& attn_weight,
const int im2col_step);
void ms_deform_attn_impl_backward(
const Tensor& value, const Tensor& spatial_shapes,
const Tensor& level_start_index, const Tensor& sampling_loc,
const Tensor& attn_weight, const Tensor& grad_output, Tensor& grad_value,
Tensor& grad_sampling_loc, Tensor& grad_attn_weight, const int im2col_step);
REGISTER_DEVICE_IMPL(ms_deform_attn_impl_forward, CUDA,
ms_deform_attn_cuda_forward);
REGISTER_DEVICE_IMPL(ms_deform_attn_impl_backward, CUDA,
ms_deform_attn_cuda_backward);
Tensor NMSCUDAKernelLauncher(Tensor boxes, Tensor scores, float iou_threshold,
int offset);
Tensor nms_cuda(Tensor boxes, Tensor scores, float iou_threshold, int offset) {
return NMSCUDAKernelLauncher(boxes, scores, iou_threshold, offset);
}
Tensor nms_impl(Tensor boxes, Tensor scores, float iou_threshold, int offset);
REGISTER_DEVICE_IMPL(nms_impl, CUDA, nms_cuda);
void PointsInBoxesPartForwardCUDAKernelLauncher(int batch_size, int boxes_num,
int pts_num, const Tensor boxes,
const Tensor pts,
Tensor box_idx_of_points);
void PointsInBoxesAllForwardCUDAKernelLauncher(int batch_size, int boxes_num,
int pts_num, const Tensor boxes,
const Tensor pts,
Tensor box_idx_of_points);
void points_in_boxes_part_forward_cuda(int batch_size, int boxes_num,
int pts_num, const Tensor boxes,
const Tensor pts,
Tensor box_idx_of_points) {
PointsInBoxesPartForwardCUDAKernelLauncher(batch_size, boxes_num, pts_num,
boxes, pts, box_idx_of_points);
};
void points_in_boxes_all_forward_cuda(int batch_size, int boxes_num,
int pts_num, const Tensor boxes,
const Tensor pts,
Tensor box_idx_of_points) {
PointsInBoxesAllForwardCUDAKernelLauncher(batch_size, boxes_num, pts_num,
boxes, pts, box_idx_of_points);
};
void points_in_boxes_part_forward_impl(int batch_size, int boxes_num,
int pts_num, const Tensor boxes,
const Tensor pts,
Tensor box_idx_of_points);
void points_in_boxes_all_forward_impl(int batch_size, int boxes_num,
int pts_num, const Tensor boxes,
const Tensor pts,
Tensor box_idx_of_points);
REGISTER_DEVICE_IMPL(points_in_boxes_part_forward_impl, CUDA,
points_in_boxes_part_forward_cuda);
REGISTER_DEVICE_IMPL(points_in_boxes_all_forward_impl, CUDA,
points_in_boxes_all_forward_cuda);
void PSAMaskForwardCUDAKernelLauncher(const int psa_type, const Tensor input,
Tensor output, const int num_,
const int h_feature, const int w_feature,
const int h_mask, const int w_mask,
const int half_h_mask,
const int half_w_mask);
void PSAMaskBackwardCUDAKernelLauncher(
const int psa_type, const Tensor grad_output, Tensor grad_input,
const int num_, const int h_feature, const int w_feature, const int h_mask,
const int w_mask, const int half_h_mask, const int half_w_mask);
void psamask_forward_cuda(const int psa_type, const Tensor input, Tensor output,
const int num_, const int h_feature,
const int w_feature, const int h_mask,
const int w_mask, const int half_h_mask,
const int half_w_mask) {
PSAMaskForwardCUDAKernelLauncher(psa_type, input, output, num_, h_feature,
w_feature, h_mask, w_mask, half_h_mask,
half_w_mask);
}
void psamask_backward_cuda(const int psa_type, const Tensor grad_output,
Tensor grad_input, const int num_,
const int h_feature, const int w_feature,
const int h_mask, const int w_mask,
const int half_h_mask, const int half_w_mask) {
PSAMaskBackwardCUDAKernelLauncher(psa_type, grad_output, grad_input, num_,
h_feature, w_feature, h_mask, w_mask,
half_h_mask, half_w_mask);
}
void psamask_forward_impl(const int psa_type, const Tensor input, Tensor output,
const int num_, const int h_feature,
const int w_feature, const int h_mask,
const int w_mask, const int half_h_mask,
const int half_w_mask);
void psamask_backward_impl(const int psa_type, const Tensor grad_output,
Tensor grad_input, const int num_,
const int h_feature, const int w_feature,
const int h_mask, const int w_mask,
const int half_h_mask, const int half_w_mask);
REGISTER_DEVICE_IMPL(psamask_forward_impl, CUDA, psamask_forward_cuda);
REGISTER_DEVICE_IMPL(psamask_backward_impl, CUDA, psamask_backward_cuda);
void ROIAlignForwardCUDAKernelLauncher(Tensor input, Tensor rois, Tensor output,
Tensor argmax_y, Tensor argmax_x,
int aligned_height, int aligned_width,
float spatial_scale, int sampling_ratio,
int pool_mode, bool aligned);
void ROIAlignBackwardCUDAKernelLauncher(Tensor grad_output, Tensor rois,
Tensor argmax_y, Tensor argmax_x,
Tensor grad_input, int aligned_height,
int aligned_width, float spatial_scale,
int sampling_ratio, int pool_mode,
bool aligned);
void roi_align_forward_cuda(Tensor input, Tensor rois, Tensor output,
Tensor argmax_y, Tensor argmax_x,
int aligned_height, int aligned_width,
float spatial_scale, int sampling_ratio,
int pool_mode, bool aligned) {
ROIAlignForwardCUDAKernelLauncher(
input, rois, output, argmax_y, argmax_x, aligned_height, aligned_width,
spatial_scale, sampling_ratio, pool_mode, aligned);
}
void roi_align_backward_cuda(Tensor grad_output, Tensor rois, Tensor argmax_y,
Tensor argmax_x, Tensor grad_input,
int aligned_height, int aligned_width,
float spatial_scale, int sampling_ratio,
int pool_mode, bool aligned) {
ROIAlignBackwardCUDAKernelLauncher(
grad_output, rois, argmax_y, argmax_x, grad_input, aligned_height,
aligned_width, spatial_scale, sampling_ratio, pool_mode, aligned);
}
void roi_align_forward_impl(Tensor input, Tensor rois, Tensor output,
Tensor argmax_y, Tensor argmax_x,
int aligned_height, int aligned_width,
float spatial_scale, int sampling_ratio,
int pool_mode, bool aligned);
void roi_align_backward_impl(Tensor grad_output, Tensor rois, Tensor argmax_y,
Tensor argmax_x, Tensor grad_input,
int aligned_height, int aligned_width,
float spatial_scale, int sampling_ratio,
int pool_mode, bool aligned);
REGISTER_DEVICE_IMPL(roi_align_forward_impl, CUDA, roi_align_forward_cuda);
REGISTER_DEVICE_IMPL(roi_align_backward_impl, CUDA, roi_align_backward_cuda);
void ROIAlignRotatedForwardCUDAKernelLauncher(
const at::Tensor input, const at::Tensor rois, const float spatial_scale,
const int sampling_ratio, const bool aligned, const bool clockwise,
const int channels, const int height, const int width, const int num_rois,
const int pooled_height, const int pooled_width, at::Tensor output);
void ROIAlignRotatedBackwardCUDAKernelLauncher(
const at::Tensor top_grad, const at::Tensor rois, const float spatial_scale,
const int sampling_ratio, const bool aligned, const bool clockwise,
const int channels, const int height, const int width, const int num_rois,
const int pooled_height, const int pooled_width, at::Tensor bottom_grad);
void roi_align_rotated_forward_cuda(Tensor input, Tensor rois, Tensor output,
int aligned_height, int aligned_width,
float spatial_scale, int sampling_ratio,
bool aligned, bool clockwise) {
// Number of ROIs
int num_rois = rois.size(0);
int size_rois = rois.size(1);
if (size_rois != 6) {
AT_ERROR("wrong roi size");
}
int num_channels = input.size(1);
int data_height = input.size(2);
int data_width = input.size(3);
ROIAlignRotatedForwardCUDAKernelLauncher(
input, rois, spatial_scale, sampling_ratio, aligned, clockwise,
num_channels, data_height, data_width, num_rois, aligned_height,
aligned_width, output);
}
void roi_align_rotated_backward_cuda(Tensor top_grad, Tensor rois,
Tensor bottom_grad, int aligned_height,
int aligned_width, float spatial_scale,
int sampling_ratio, bool aligned,
bool clockwise) {
// Number of ROIs
int num_rois = rois.size(0);
int size_rois = rois.size(1);
if (size_rois != 6) {
AT_ERROR("wrong roi size");
}
int num_channels = bottom_grad.size(1);
int data_height = bottom_grad.size(2);
int data_width = bottom_grad.size(3);
ROIAlignRotatedBackwardCUDAKernelLauncher(
top_grad, rois, spatial_scale, sampling_ratio, aligned, clockwise,
num_channels, data_height, data_width, num_rois, aligned_height,
aligned_width, bottom_grad);
}
void roi_align_rotated_forward_impl(Tensor input, Tensor rois, Tensor output,
int aligned_height, int aligned_width,
float spatial_scale, int sampling_ratio,
bool aligned, bool clockwise);
void roi_align_rotated_backward_impl(Tensor top_grad, Tensor rois,
Tensor bottom_grad, int aligned_height,
int aligned_width, float spatial_scale,
int sampling_ratio, bool aligned,
bool clockwise);
REGISTER_DEVICE_IMPL(roi_align_rotated_forward_impl, CUDA,
roi_align_rotated_forward_cuda);
REGISTER_DEVICE_IMPL(roi_align_rotated_backward_impl, CUDA,
roi_align_rotated_backward_cuda);
void RiROIAlignRotatedForwardCUDAKernelLauncher(
const at::Tensor features, const at::Tensor rois, const float spatial_scale,
const int num_samples, const bool clockwise, const int channels,
const int height, const int width, const int num_rois,
const int pooled_height, const int pooled_width, const int num_orientations,
at::Tensor output);