Open3D (C++ API)  0.18.0+252c867
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 
14 namespace open3d {
15 namespace ml {
16 namespace impl {
17 
96 template <class TFeat, class TReal, class TIndex>
97 void 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 
122 template <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 
157 template <class T>
158 void 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 
173 template <class T>
174 void 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