mirror of
https://github.com/facebookresearch/pytorch3d.git
synced 2026-03-02 10:15:59 +08:00
c5ea8fa49e
Summary: Adds CHECK_CPU macros that checks if a tensor is on the CPU device throughout csrc directories and subdir up to `pulsar`. Note that this is the third part of a larger change, and to keep diffs better organized, subsequent diffs will update the remaining directories. Reviewed By: bottler Differential Revision: D77696998 fbshipit-source-id: 470ca65b23d9965483b5bdd30c712da8e1131787
750 lines
25 KiB
C++
750 lines
25 KiB
C++
/*
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* Copyright (c) Meta Platforms, Inc. and affiliates.
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* All rights reserved.
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*
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* This source code is licensed under the BSD-style license found in the
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* LICENSE file in the root directory of this source tree.
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*/
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#pragma once
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#include <torch/extension.h>
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#include <cstdio>
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#include <tuple>
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#include "utils/pytorch3d_cutils.h"
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// ****************************************************************************
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// * PointFaceDistance *
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// ****************************************************************************
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// Computes the squared euclidean distance of each p in points to it closest
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// triangular face belonging to the corresponding mesh example in the batch of
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// size N.
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//
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// Args:
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// points: FloatTensor of shape (P, 3)
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// points_first_idx: LongTensor of shape (N,) indicating the first point
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// index for each example in the batch
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// tris: FloatTensor of shape (T, 3, 3) of the triangular faces. The t-th
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// triangular face is spanned by (tris[t, 0], tris[t, 1], tris[t, 2])
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// tris_first_idx: LongTensor of shape (N,) indicating the first face
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// index for each example in the batch
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// max_points: Scalar equal to max(P_i) for i in [0, N - 1] containing
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// the maximum number of points in the batch and is used to set
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// the block dimensions in the CUDA implementation.
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// min_triangle_area: triangles less than this size are considered
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// points/lines.
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//
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// Returns:
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// dists: FloatTensor of shape (P,), where dists[p] is the minimum
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// squared euclidean distance of points[p] to the faces in the same
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// example in the batch.
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// idxs: LongTensor of shape (P,), where idxs[p] is the index of the closest
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// face in the batch.
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// So, dists[p] = d(points[p], tris[idxs[p], 0], tris[idxs[p], 1],
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// tris[idxs[p], 2]) where d(u, v0, v1, v2) is the distance of u from the
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// face spanned by (v0, v1, v2)
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//
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//
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#ifdef WITH_CUDA
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std::tuple<torch::Tensor, torch::Tensor> PointFaceDistanceForwardCuda(
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const torch::Tensor& points,
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const torch::Tensor& points_first_idx,
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const torch::Tensor& tris,
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const torch::Tensor& tris_first_idx,
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const int64_t max_points,
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const double min_triangle_area);
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#endif
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std::tuple<torch::Tensor, torch::Tensor> PointFaceDistanceForwardCpu(
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const torch::Tensor& points,
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const torch::Tensor& points_first_idx,
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const torch::Tensor& tris,
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const torch::Tensor& tris_first_idx,
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const double min_triangle_area);
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std::tuple<torch::Tensor, torch::Tensor> PointFaceDistanceForward(
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const torch::Tensor& points,
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const torch::Tensor& points_first_idx,
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const torch::Tensor& tris,
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const torch::Tensor& tris_first_idx,
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const int64_t max_points,
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const double min_triangle_area) {
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if (points.is_cuda()) {
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#ifdef WITH_CUDA
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CHECK_CUDA(points);
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CHECK_CUDA(points_first_idx);
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CHECK_CUDA(tris);
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CHECK_CUDA(tris_first_idx);
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return PointFaceDistanceForwardCuda(
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points,
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points_first_idx,
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tris,
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tris_first_idx,
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max_points,
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min_triangle_area);
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#else
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AT_ERROR("Not compiled with GPU support.");
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#endif
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}
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CHECK_CPU(points);
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CHECK_CPU(points_first_idx);
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CHECK_CPU(tris);
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CHECK_CPU(tris_first_idx);
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return PointFaceDistanceForwardCpu(
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points, points_first_idx, tris, tris_first_idx, min_triangle_area);
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}
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// Backward pass for PointFaceDistance.
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//
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// Args:
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// points: FloatTensor of shape (P, 3)
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// tris: FloatTensor of shape (T, 3, 3)
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// idx_points: LongTensor of shape (P,) containing the indices
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// of the closest face in the example in the batch.
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// This is computed by the forward pass
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// grad_dists: FloatTensor of shape (P,)
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// min_triangle_area: triangles less than this size are considered
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// points/lines.
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//
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// Returns:
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// grad_points: FloatTensor of shape (P, 3)
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// grad_tris: FloatTensor of shape (T, 3, 3)
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//
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#ifdef WITH_CUDA
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std::tuple<torch::Tensor, torch::Tensor> PointFaceDistanceBackwardCuda(
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const torch::Tensor& points,
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const torch::Tensor& tris,
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const torch::Tensor& idx_points,
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const torch::Tensor& grad_dists,
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const double min_triangle_area);
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#endif
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std::tuple<torch::Tensor, torch::Tensor> PointFaceDistanceBackwardCpu(
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const torch::Tensor& points,
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const torch::Tensor& tris,
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const torch::Tensor& idx_points,
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const torch::Tensor& grad_dists,
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const double min_triangle_area);
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std::tuple<torch::Tensor, torch::Tensor> PointFaceDistanceBackward(
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const torch::Tensor& points,
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const torch::Tensor& tris,
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const torch::Tensor& idx_points,
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const torch::Tensor& grad_dists,
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const double min_triangle_area) {
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if (points.is_cuda()) {
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#ifdef WITH_CUDA
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CHECK_CUDA(points);
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CHECK_CUDA(tris);
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CHECK_CUDA(idx_points);
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CHECK_CUDA(grad_dists);
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return PointFaceDistanceBackwardCuda(
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points, tris, idx_points, grad_dists, min_triangle_area);
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#else
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AT_ERROR("Not compiled with GPU support.");
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#endif
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}
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CHECK_CPU(points);
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CHECK_CPU(tris);
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CHECK_CPU(idx_points);
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CHECK_CPU(grad_dists);
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return PointFaceDistanceBackwardCpu(
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points, tris, idx_points, grad_dists, min_triangle_area);
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}
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// ****************************************************************************
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// * FacePointDistance *
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// ****************************************************************************
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// Computes the squared euclidean distance of each triangular face to its
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// closest point belonging to the corresponding example in the batch of size N.
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//
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// Args:
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// points: FloatTensor of shape (P, 3)
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// points_first_idx: LongTensor of shape (N,) indicating the first point
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// index for each example in the batch
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// tris: FloatTensor of shape (T, 3, 3) of the triangular faces. The t-th
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// triangular face is spanned by (tris[t, 0], tris[t, 1], tris[t, 2])
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// tris_first_idx: LongTensor of shape (N,) indicating the first face
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// index for each example in the batch
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// max_tris: Scalar equal to max(T_i) for i in [0, N - 1] containing
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// the maximum number of faces in the batch and is used to set
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// the block dimensions in the CUDA implementation.
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// min_triangle_area: triangles less than this size are considered
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// points/lines.
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//
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// Returns:
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// dists: FloatTensor of shape (T,), where dists[t] is the minimum squared
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// euclidean distance of t-th triangular face from the closest point in
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// the batch.
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// idxs: LongTensor of shape (T,), where idxs[t] is the index of the closest
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// point in the batch.
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// So, dists[t] = d(points[idxs[t]], tris[t, 0], tris[t, 1], tris[t, 2])
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// where d(u, v0, v1, v2) is the distance of u from the triangular face
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// spanned by (v0, v1, v2)
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//
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#ifdef WITH_CUDA
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std::tuple<torch::Tensor, torch::Tensor> FacePointDistanceForwardCuda(
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const torch::Tensor& points,
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const torch::Tensor& points_first_idx,
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const torch::Tensor& tris,
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const torch::Tensor& tris_first_idx,
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const int64_t max_tris,
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const double min_triangle_area);
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#endif
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std::tuple<torch::Tensor, torch::Tensor> FacePointDistanceForwardCpu(
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const torch::Tensor& points,
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const torch::Tensor& points_first_idx,
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const torch::Tensor& tris,
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const torch::Tensor& tris_first_idx,
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const double min_triangle_area);
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std::tuple<torch::Tensor, torch::Tensor> FacePointDistanceForward(
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const torch::Tensor& points,
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const torch::Tensor& points_first_idx,
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const torch::Tensor& tris,
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const torch::Tensor& tris_first_idx,
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const int64_t max_tris,
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const double min_triangle_area) {
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if (points.is_cuda()) {
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#ifdef WITH_CUDA
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CHECK_CUDA(points);
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CHECK_CUDA(points_first_idx);
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CHECK_CUDA(tris);
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CHECK_CUDA(tris_first_idx);
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return FacePointDistanceForwardCuda(
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points,
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points_first_idx,
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tris,
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tris_first_idx,
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max_tris,
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min_triangle_area);
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#else
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AT_ERROR("Not compiled with GPU support.");
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#endif
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}
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CHECK_CPU(points);
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CHECK_CPU(points_first_idx);
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CHECK_CPU(tris);
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CHECK_CPU(tris_first_idx);
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return FacePointDistanceForwardCpu(
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points, points_first_idx, tris, tris_first_idx, min_triangle_area);
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}
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// Backward pass for FacePointDistance.
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//
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// Args:
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// points: FloatTensor of shape (P, 3)
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// tris: FloatTensor of shape (T, 3, 3)
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// idx_tris: LongTensor of shape (T,) containing the indices
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// of the closest point in the example in the batch.
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// This is computed by the forward pass
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// grad_dists: FloatTensor of shape (T,)
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// min_triangle_area: triangles less than this size are considered
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// points/lines.
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//
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// Returns:
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// grad_points: FloatTensor of shape (P, 3)
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// grad_tris: FloatTensor of shape (T, 3, 3)
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//
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#ifdef WITH_CUDA
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std::tuple<torch::Tensor, torch::Tensor> FacePointDistanceBackwardCuda(
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const torch::Tensor& points,
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const torch::Tensor& tris,
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const torch::Tensor& idx_tris,
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const torch::Tensor& grad_dists,
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const double min_triangle_area);
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#endif
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std::tuple<torch::Tensor, torch::Tensor> FacePointDistanceBackwardCpu(
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const torch::Tensor& points,
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const torch::Tensor& tris,
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const torch::Tensor& idx_tris,
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const torch::Tensor& grad_dists,
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const double min_triangle_area);
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std::tuple<torch::Tensor, torch::Tensor> FacePointDistanceBackward(
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const torch::Tensor& points,
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const torch::Tensor& tris,
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const torch::Tensor& idx_tris,
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const torch::Tensor& grad_dists,
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const double min_triangle_area) {
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if (points.is_cuda()) {
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#ifdef WITH_CUDA
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CHECK_CUDA(points);
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CHECK_CUDA(tris);
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CHECK_CUDA(idx_tris);
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CHECK_CUDA(grad_dists);
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return FacePointDistanceBackwardCuda(
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points, tris, idx_tris, grad_dists, min_triangle_area);
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#else
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AT_ERROR("Not compiled with GPU support.");
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#endif
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}
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CHECK_CPU(points);
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CHECK_CPU(tris);
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CHECK_CPU(idx_tris);
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CHECK_CPU(grad_dists);
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return FacePointDistanceBackwardCpu(
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points, tris, idx_tris, grad_dists, min_triangle_area);
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}
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// ****************************************************************************
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// * PointEdgeDistance *
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// ****************************************************************************
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// Computes the squared euclidean distance of each p in points to the closest
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// mesh edge belonging to the corresponding example in the batch of size N.
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//
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// Args:
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// points: FloatTensor of shape (P, 3)
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// points_first_idx: LongTensor of shape (N,) indicating the first point
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// index for each example in the batch
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// segms: FloatTensor of shape (S, 2, 3) of edge segments. The s-th edge
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// segment is spanned by (segms[s, 0], segms[s, 1])
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// segms_first_idx: LongTensor of shape (N,) indicating the first edge
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// index for each example in the batch
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// max_points: Scalar equal to max(P_i) for i in [0, N - 1] containing
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// the maximum number of points in the batch and is used to set
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// the grid dimensions in the CUDA implementation.
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//
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// Returns:
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// dists: FloatTensor of shape (P,), where dists[p] is the squared euclidean
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// distance of points[p] to the closest edge in the same example in the
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// batch.
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// idxs: LongTensor of shape (P,), where idxs[p] is the index of the closest
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// edge in the batch.
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// So, dists[p] = d(points[p], segms[idxs[p], 0], segms[idxs[p], 1]),
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// where d(u, v0, v1) is the distance of u from the segment spanned by
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// (v0, v1).
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//
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#ifdef WITH_CUDA
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std::tuple<torch::Tensor, torch::Tensor> PointEdgeDistanceForwardCuda(
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const torch::Tensor& points,
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const torch::Tensor& points_first_idx,
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const torch::Tensor& segms,
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const torch::Tensor& segms_first_idx,
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const int64_t max_points);
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#endif
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std::tuple<torch::Tensor, torch::Tensor> PointEdgeDistanceForwardCpu(
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const torch::Tensor& points,
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const torch::Tensor& points_first_idx,
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const torch::Tensor& segms,
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const torch::Tensor& segms_first_idx,
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const int64_t max_points);
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std::tuple<torch::Tensor, torch::Tensor> PointEdgeDistanceForward(
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const torch::Tensor& points,
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const torch::Tensor& points_first_idx,
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const torch::Tensor& segms,
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const torch::Tensor& segms_first_idx,
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const int64_t max_points) {
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if (points.is_cuda()) {
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#ifdef WITH_CUDA
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CHECK_CUDA(points);
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CHECK_CUDA(points_first_idx);
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CHECK_CUDA(segms);
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CHECK_CUDA(segms_first_idx);
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return PointEdgeDistanceForwardCuda(
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points, points_first_idx, segms, segms_first_idx, max_points);
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#else
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AT_ERROR("Not compiled with GPU support.");
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#endif
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}
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CHECK_CPU(points);
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CHECK_CPU(points_first_idx);
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CHECK_CPU(segms);
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CHECK_CPU(segms_first_idx);
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return PointEdgeDistanceForwardCpu(
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points, points_first_idx, segms, segms_first_idx, max_points);
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}
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// Backward pass for PointEdgeDistance.
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//
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// Args:
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// points: FloatTensor of shape (P, 3)
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// segms: FloatTensor of shape (S, 2, 3)
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// idx_points: LongTensor of shape (P,) containing the indices
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// of the closest edge in the example in the batch.
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// This is computed by the forward pass.
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// grad_dists: FloatTensor of shape (P,)
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//
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// Returns:
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// grad_points: FloatTensor of shape (P, 3)
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// grad_segms: FloatTensor of shape (S, 2, 3)
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//
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#ifdef WITH_CUDA
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std::tuple<torch::Tensor, torch::Tensor> PointEdgeDistanceBackwardCuda(
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const torch::Tensor& points,
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const torch::Tensor& segms,
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const torch::Tensor& idx_points,
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const torch::Tensor& grad_dists);
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#endif
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std::tuple<torch::Tensor, torch::Tensor> PointEdgeDistanceBackwardCpu(
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const torch::Tensor& points,
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const torch::Tensor& segms,
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const torch::Tensor& idx_points,
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const torch::Tensor& grad_dists);
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std::tuple<torch::Tensor, torch::Tensor> PointEdgeDistanceBackward(
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const torch::Tensor& points,
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const torch::Tensor& segms,
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const torch::Tensor& idx_points,
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const torch::Tensor& grad_dists) {
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if (points.is_cuda()) {
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#ifdef WITH_CUDA
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CHECK_CUDA(points);
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CHECK_CUDA(segms);
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CHECK_CUDA(idx_points);
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CHECK_CUDA(grad_dists);
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return PointEdgeDistanceBackwardCuda(points, segms, idx_points, grad_dists);
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#else
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AT_ERROR("Not compiled with GPU support.");
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#endif
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}
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CHECK_CPU(points);
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CHECK_CPU(segms);
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CHECK_CPU(idx_points);
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CHECK_CPU(grad_dists);
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return PointEdgeDistanceBackwardCpu(points, segms, idx_points, grad_dists);
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}
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// ****************************************************************************
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// * EdgePointDistance *
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// ****************************************************************************
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// Computes the squared euclidean distance of each edge segment to the closest
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// point belonging to the corresponding example in the batch of size N.
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//
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// Args:
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// points: FloatTensor of shape (P, 3)
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// points_first_idx: LongTensor of shape (N,) indicating the first point
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|
// index for each example in the batch
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// segms: FloatTensor of shape (S, 2, 3) of edge segments. The s-th edge
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// segment is spanned by (segms[s, 0], segms[s, 1])
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// segms_first_idx: LongTensor of shape (N,) indicating the first edge
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// index for each example in the batch
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// max_segms: Scalar equal to max(S_i) for i in [0, N - 1] containing
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// the maximum number of edges in the batch and is used to set
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// the block dimensions in the CUDA implementation.
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//
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// Returns:
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// dists: FloatTensor of shape (S,), where dists[s] is the squared
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// euclidean distance of s-th edge to the closest point in the
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// corresponding example in the batch.
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// idxs: LongTensor of shape (S,), where idxs[s] is the index of the closest
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// point in the example in the batch.
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// So, dists[s] = d(points[idxs[s]], segms[s, 0], segms[s, 1]), where
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// d(u, v0, v1) is the distance of u from the segment spanned by (v0, v1)
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//
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//
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#ifdef WITH_CUDA
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std::tuple<torch::Tensor, torch::Tensor> EdgePointDistanceForwardCuda(
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const torch::Tensor& points,
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const torch::Tensor& points_first_idx,
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const torch::Tensor& segms,
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const torch::Tensor& segms_first_idx,
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const int64_t max_segms);
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#endif
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std::tuple<torch::Tensor, torch::Tensor> EdgePointDistanceForwardCpu(
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const torch::Tensor& points,
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const torch::Tensor& points_first_idx,
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const torch::Tensor& segms,
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const torch::Tensor& segms_first_idx,
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const int64_t max_segms);
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|
|
|
std::tuple<torch::Tensor, torch::Tensor> EdgePointDistanceForward(
|
|
const torch::Tensor& points,
|
|
const torch::Tensor& points_first_idx,
|
|
const torch::Tensor& segms,
|
|
const torch::Tensor& segms_first_idx,
|
|
const int64_t max_segms) {
|
|
if (points.is_cuda()) {
|
|
#ifdef WITH_CUDA
|
|
CHECK_CUDA(points);
|
|
CHECK_CUDA(points_first_idx);
|
|
CHECK_CUDA(segms);
|
|
CHECK_CUDA(segms_first_idx);
|
|
return EdgePointDistanceForwardCuda(
|
|
points, points_first_idx, segms, segms_first_idx, max_segms);
|
|
#else
|
|
AT_ERROR("Not compiled with GPU support.");
|
|
#endif
|
|
}
|
|
CHECK_CPU(points);
|
|
CHECK_CPU(points_first_idx);
|
|
CHECK_CPU(segms);
|
|
CHECK_CPU(segms_first_idx);
|
|
return EdgePointDistanceForwardCpu(
|
|
points, points_first_idx, segms, segms_first_idx, max_segms);
|
|
}
|
|
|
|
// Backward pass for EdgePointDistance.
|
|
//
|
|
// Args:
|
|
// points: FloatTensor of shape (P, 3)
|
|
// segms: FloatTensor of shape (S, 2, 3)
|
|
// idx_segms: LongTensor of shape (S,) containing the indices
|
|
// of the closest point in the example in the batch.
|
|
// This is computed by the forward pass
|
|
// grad_dists: FloatTensor of shape (S,)
|
|
//
|
|
// Returns:
|
|
// grad_points: FloatTensor of shape (P, 3)
|
|
// grad_segms: FloatTensor of shape (S, 2, 3)
|
|
//
|
|
|
|
#ifdef WITH_CUDA
|
|
|
|
std::tuple<torch::Tensor, torch::Tensor> EdgePointDistanceBackwardCuda(
|
|
const torch::Tensor& points,
|
|
const torch::Tensor& segms,
|
|
const torch::Tensor& idx_segms,
|
|
const torch::Tensor& grad_dists);
|
|
#endif
|
|
|
|
std::tuple<torch::Tensor, torch::Tensor> EdgePointDistanceBackwardCpu(
|
|
const torch::Tensor& points,
|
|
const torch::Tensor& segms,
|
|
const torch::Tensor& idx_segms,
|
|
const torch::Tensor& grad_dists);
|
|
|
|
std::tuple<torch::Tensor, torch::Tensor> EdgePointDistanceBackward(
|
|
const torch::Tensor& points,
|
|
const torch::Tensor& segms,
|
|
const torch::Tensor& idx_segms,
|
|
const torch::Tensor& grad_dists) {
|
|
if (points.is_cuda()) {
|
|
#ifdef WITH_CUDA
|
|
CHECK_CUDA(points);
|
|
CHECK_CUDA(segms);
|
|
CHECK_CUDA(idx_segms);
|
|
CHECK_CUDA(grad_dists);
|
|
return EdgePointDistanceBackwardCuda(points, segms, idx_segms, grad_dists);
|
|
#else
|
|
AT_ERROR("Not compiled with GPU support.");
|
|
#endif
|
|
}
|
|
CHECK_CPU(points);
|
|
CHECK_CPU(segms);
|
|
CHECK_CPU(idx_segms);
|
|
CHECK_CPU(grad_dists);
|
|
return EdgePointDistanceBackwardCpu(points, segms, idx_segms, grad_dists);
|
|
}
|
|
|
|
// ****************************************************************************
|
|
// * PointFaceArrayDistance *
|
|
// ****************************************************************************
|
|
|
|
// Computes the squared euclidean distance of each p in points to each
|
|
// triangular face spanned by (v0, v1, v2) in tris.
|
|
//
|
|
// Args:
|
|
// points: FloatTensor of shape (P, 3)
|
|
// tris: FloatTensor of shape (T, 3, 3) of the triangular faces. The t-th
|
|
// triangular face is spanned by (tris[t, 0], tris[t, 1], tris[t, 2])
|
|
// min_triangle_area: triangles less than this size are considered
|
|
// points/lines.
|
|
//
|
|
// Returns:
|
|
// dists: FloatTensor of shape (P, T), where dists[p, t] is the squared
|
|
// euclidean distance of points[p] to the face spanned by (v0, v1, v2)
|
|
// where v0 = tris[t, 0], v1 = tris[t, 1] and v2 = tris[t, 2]
|
|
//
|
|
// For pointcloud and meshes of batch size N, this function requires N
|
|
// computations. The memory occupied is O(NPT) which can become quite large.
|
|
// For example, a medium sized batch with N = 32 with P = 10000 and T = 5000
|
|
// will require for the forward pass 5.8G of memory to store dists.
|
|
|
|
#ifdef WITH_CUDA
|
|
|
|
torch::Tensor PointFaceArrayDistanceForwardCuda(
|
|
const torch::Tensor& points,
|
|
const torch::Tensor& tris,
|
|
const double min_triangle_area);
|
|
#endif
|
|
|
|
torch::Tensor PointFaceArrayDistanceForwardCpu(
|
|
const torch::Tensor& points,
|
|
const torch::Tensor& tris,
|
|
const double min_triangle_area);
|
|
|
|
torch::Tensor PointFaceArrayDistanceForward(
|
|
const torch::Tensor& points,
|
|
const torch::Tensor& tris,
|
|
const double min_triangle_area) {
|
|
if (points.is_cuda()) {
|
|
#ifdef WITH_CUDA
|
|
CHECK_CUDA(points);
|
|
CHECK_CUDA(tris);
|
|
return PointFaceArrayDistanceForwardCuda(points, tris, min_triangle_area);
|
|
#else
|
|
AT_ERROR("Not compiled with GPU support.");
|
|
#endif
|
|
}
|
|
CHECK_CPU(points);
|
|
CHECK_CPU(tris);
|
|
return PointFaceArrayDistanceForwardCpu(points, tris, min_triangle_area);
|
|
}
|
|
|
|
// Backward pass for PointFaceArrayDistance.
|
|
//
|
|
// Args:
|
|
// points: FloatTensor of shape (P, 3)
|
|
// tris: FloatTensor of shape (T, 3, 3)
|
|
// grad_dists: FloatTensor of shape (P, T)
|
|
// min_triangle_area: triangles less than this size are considered
|
|
// points/lines.
|
|
//
|
|
// Returns:
|
|
// grad_points: FloatTensor of shape (P, 3)
|
|
// grad_tris: FloatTensor of shape (T, 3, 3)
|
|
//
|
|
|
|
#ifdef WITH_CUDA
|
|
std::tuple<torch::Tensor, torch::Tensor> PointFaceArrayDistanceBackwardCuda(
|
|
const torch::Tensor& points,
|
|
const torch::Tensor& tris,
|
|
const torch::Tensor& grad_dists,
|
|
const double min_triangle_area);
|
|
#endif
|
|
std::tuple<torch::Tensor, torch::Tensor> PointFaceArrayDistanceBackwardCpu(
|
|
const torch::Tensor& points,
|
|
const torch::Tensor& tris,
|
|
const torch::Tensor& grad_dists,
|
|
const double min_triangle_area);
|
|
|
|
std::tuple<torch::Tensor, torch::Tensor> PointFaceArrayDistanceBackward(
|
|
const torch::Tensor& points,
|
|
const torch::Tensor& tris,
|
|
const torch::Tensor& grad_dists,
|
|
const double min_triangle_area) {
|
|
if (points.is_cuda()) {
|
|
#ifdef WITH_CUDA
|
|
CHECK_CUDA(points);
|
|
CHECK_CUDA(tris);
|
|
CHECK_CUDA(grad_dists);
|
|
return PointFaceArrayDistanceBackwardCuda(
|
|
points, tris, grad_dists, min_triangle_area);
|
|
#else
|
|
AT_ERROR("Not compiled with GPU support.");
|
|
#endif
|
|
}
|
|
CHECK_CPU(points);
|
|
CHECK_CPU(tris);
|
|
CHECK_CPU(grad_dists);
|
|
return PointFaceArrayDistanceBackwardCpu(
|
|
points, tris, grad_dists, min_triangle_area);
|
|
}
|
|
|
|
// ****************************************************************************
|
|
// * PointEdgeArrayDistance *
|
|
// ****************************************************************************
|
|
|
|
// Computes the squared euclidean distance of each p in points to each edge
|
|
// segment in segms.
|
|
//
|
|
// Args:
|
|
// points: FloatTensor of shape (P, 3)
|
|
// segms: FloatTensor of shape (S, 2, 3) of edge segments. The s-th
|
|
// edge segment is spanned by (segms[s, 0], segms[s, 1])
|
|
//
|
|
// Returns:
|
|
// dists: FloatTensor of shape (P, S), where dists[p, s] is the squared
|
|
// euclidean distance of points[p] to the segment spanned by
|
|
// (segms[s, 0], segms[s, 1])
|
|
//
|
|
// For pointcloud and meshes of batch size N, this function requires N
|
|
// computations. The memory occupied is O(NPS) which can become quite large.
|
|
// For example, a medium sized batch with N = 32 with P = 10000 and S = 5000
|
|
// will require for the forward pass 5.8G of memory to store dists.
|
|
|
|
#ifdef WITH_CUDA
|
|
torch::Tensor PointEdgeArrayDistanceForwardCuda(
|
|
const torch::Tensor& points,
|
|
const torch::Tensor& segms);
|
|
#endif
|
|
|
|
torch::Tensor PointEdgeArrayDistanceForwardCpu(
|
|
const torch::Tensor& points,
|
|
const torch::Tensor& segms);
|
|
|
|
torch::Tensor PointEdgeArrayDistanceForward(
|
|
const torch::Tensor& points,
|
|
const torch::Tensor& segms) {
|
|
if (points.is_cuda()) {
|
|
#ifdef WITH_CUDA
|
|
CHECK_CUDA(points);
|
|
CHECK_CUDA(segms);
|
|
return PointEdgeArrayDistanceForwardCuda(points, segms);
|
|
#else
|
|
AT_ERROR("Not compiled with GPU support.");
|
|
#endif
|
|
}
|
|
CHECK_CPU(points);
|
|
CHECK_CPU(segms);
|
|
return PointEdgeArrayDistanceForwardCpu(points, segms);
|
|
}
|
|
|
|
// Backward pass for PointEdgeArrayDistance.
|
|
//
|
|
// Args:
|
|
// points: FloatTensor of shape (P, 3)
|
|
// segms: FloatTensor of shape (S, 2, 3)
|
|
// grad_dists: FloatTensor of shape (P, S)
|
|
//
|
|
// Returns:
|
|
// grad_points: FloatTensor of shape (P, 3)
|
|
// grad_segms: FloatTensor of shape (S, 2, 3)
|
|
//
|
|
|
|
#ifdef WITH_CUDA
|
|
|
|
std::tuple<torch::Tensor, torch::Tensor> PointEdgeArrayDistanceBackwardCuda(
|
|
const torch::Tensor& points,
|
|
const torch::Tensor& segms,
|
|
const torch::Tensor& grad_dists);
|
|
#endif
|
|
|
|
std::tuple<torch::Tensor, torch::Tensor> PointEdgeArrayDistanceBackwardCpu(
|
|
const torch::Tensor& points,
|
|
const torch::Tensor& segms,
|
|
const torch::Tensor& grad_dists);
|
|
|
|
std::tuple<torch::Tensor, torch::Tensor> PointEdgeArrayDistanceBackward(
|
|
const torch::Tensor& points,
|
|
const torch::Tensor& segms,
|
|
const torch::Tensor& grad_dists) {
|
|
if (points.is_cuda()) {
|
|
#ifdef WITH_CUDA
|
|
CHECK_CUDA(points);
|
|
CHECK_CUDA(segms);
|
|
CHECK_CUDA(grad_dists);
|
|
return PointEdgeArrayDistanceBackwardCuda(points, segms, grad_dists);
|
|
#else
|
|
AT_ERROR("Not compiled with GPU support.");
|
|
#endif
|
|
}
|
|
CHECK_CPU(points);
|
|
CHECK_CPU(segms);
|
|
CHECK_CPU(grad_dists);
|
|
return PointEdgeArrayDistanceBackwardCpu(points, segms, grad_dists);
|
|
}
|