Merge pull request #4 from humanpose1/cpu_ball_query

Cpu ball query

Author: nicolas-chaulet

cpu/include/ball_query.h

@@ -0,0 +1,11 @@
+#pragma once
+#include <torch/extension.h>
+std::pair<at::Tensor, at::Tensor> ball_query(at::Tensor query,
+					     at::Tensor support,
+					     float radius, int max_num, int mode);
+
+std::pair<at::Tensor, at::Tensor> batch_ball_query(at::Tensor query,
+						   at::Tensor support,
+						   at::Tensor query_batch,
+						   at::Tensor support_batch,
+						   float radius, int max_num, int mode);

cpu/include/cloud.h

@@ -0,0 +1,92 @@
+//
+//
+//		0==========================0
+//		|    Local feature test    |
+//		0==========================0
+//
+//		version 1.0 :
+//			>
+//
+//---------------------------------------------------
+//
+//		Cloud header
+//
+//----------------------------------------------------
+//
+//		Hugues THOMAS - 10/02/2017
+//
+
+
+# pragma once
+
+#include <cmath>
+#include <vector>
+#include <unordered_map>
+#include <map>
+#include <algorithm>
+#include <numeric>
+#include <iostream>
+#include <iomanip>
+
+#include <time.h>
+
+
+template<typename scalar_t>
+struct PointCloud
+{
+	struct PointXYZ {
+		scalar_t x,y,z;
+	};
+
+	std::vector<PointXYZ> pts;
+
+	void set(std::vector<scalar_t> new_pts){
+
+		// pts = std::vector<PointXYZ>((PointXYZ*)new_pts, (PointXYZ*)new_pts+new_pts.size()/3);
+		std::vector<PointXYZ> temp(new_pts.size()/3);
+		for(unsigned int i=0; i < new_pts.size(); i++){
+			if(i%3 == 0){
+
+				PointXYZ point;
+				point.x = new_pts[i];
+				point.y = new_pts[i+1];
+				point.z = new_pts[i+2];
+				temp[i/3] = point;
+			}
+		}
+		pts = temp;
+	}
+	void set_batch(std::vector<scalar_t> new_pts, int begin, int size){
+		std::vector<PointXYZ> temp(size);
+		for(int i=0; i < size; i++){
+			PointXYZ point;
+			point.x = new_pts[3*(begin+i)];
+			point.y = new_pts[3*(begin+i) + 1];
+			point.z = new_pts[3*(begin+i) + 2];
+			temp[i] = point;
+
+		}
+		pts = temp;
+	}
+
+	// Must return the number of data points
+	inline size_t kdtree_get_point_count() const { return pts.size(); }
+
+	// Returns the dim'th component of the idx'th point in the class:
+	// Since this is inlined and the "dim" argument is typically an immediate value, the
+	//  "if/else's" are actually solved at compile time.
+	inline scalar_t kdtree_get_pt(const size_t idx, const size_t dim) const
+	{
+		if (dim == 0) return pts[idx].x;
+		else if (dim == 1) return pts[idx].y;
+		else return pts[idx].z;
+	}
+
+	// Optional bounding-box computation: return false to default to a standard bbox computation loop.
+	//   Return true if the BBOX was already computed by the class and returned in "bb" so it can be avoided to redo it again.
+	//   Look at bb.size() to find out the expected dimensionality (e.g. 2 or 3 for point clouds)
+	template <class BBOX>
+	bool kdtree_get_bbox(BBOX& /* bb */) const { return false; }
+
+
+};

cpu/include/compat.h

@@ -0,0 +1,5 @@
+#ifdef VERSION_GE_1_3
+#define DATA_PTR data_ptr
+#else
+#define DATA_PTR data
+#endif