Spaces:
Paused
Paused
File size: 1,695 Bytes
3f9c56c |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 |
# Copyright (c) OpenMMLab. All rights reserved.
import torch
from torch.autograd import Function
from ..utils import ext_loader
ext_module = ext_loader.load_ext('_ext', ['ball_query_forward'])
class BallQuery(Function):
"""Find nearby points in spherical space."""
@staticmethod
def forward(ctx, min_radius: float, max_radius: float, sample_num: int,
xyz: torch.Tensor, center_xyz: torch.Tensor) -> torch.Tensor:
"""
Args:
min_radius (float): minimum radius of the balls.
max_radius (float): maximum radius of the balls.
sample_num (int): maximum number of features in the balls.
xyz (Tensor): (B, N, 3) xyz coordinates of the features.
center_xyz (Tensor): (B, npoint, 3) centers of the ball query.
Returns:
Tensor: (B, npoint, nsample) tensor with the indices of
the features that form the query balls.
"""
assert center_xyz.is_contiguous()
assert xyz.is_contiguous()
assert min_radius < max_radius
B, N, _ = xyz.size()
npoint = center_xyz.size(1)
idx = xyz.new_zeros(B, npoint, sample_num, dtype=torch.int)
ext_module.ball_query_forward(
center_xyz,
xyz,
idx,
b=B,
n=N,
m=npoint,
min_radius=min_radius,
max_radius=max_radius,
nsample=sample_num)
if torch.__version__ != 'parrots':
ctx.mark_non_differentiable(idx)
return idx
@staticmethod
def backward(ctx, a=None):
return None, None, None, None
ball_query = BallQuery.apply
|