success

baselines/grasping/GSNet/pointnet2/_ext_src/include/ball_query.h

@@ -0,0 +1,10 @@
+// Copyright (c) Facebook, Inc. and its affiliates.
+// 
+// This source code is licensed under the MIT license found in the
+// LICENSE file in the root directory of this source tree.
+
+#pragma once
+#include <torch/extension.h>
+
+at::Tensor ball_query(at::Tensor new_xyz, at::Tensor xyz, const float radius,
+                      const int nsample);

baselines/grasping/GSNet/pointnet2/_ext_src/include/cuda_utils.h

@@ -0,0 +1,46 @@
+// Copyright (c) Facebook, Inc. and its affiliates.
+// 
+// This source code is licensed under the MIT license found in the
+// LICENSE file in the root directory of this source tree.
+
+#ifndef _CUDA_UTILS_H
+#define _CUDA_UTILS_H
+
+#include <ATen/ATen.h>
+#include <ATen/cuda/CUDAContext.h>
+#include <cmath>
+
+#include <cuda.h>
+#include <cuda_runtime.h>
+
+#include <vector>
+
+#define TOTAL_THREADS 512
+
+inline int opt_n_threads(int work_size) {
+  const int pow_2 = std::log(static_cast<double>(work_size)) / std::log(2.0);
+
+  return max(min(1 << pow_2, TOTAL_THREADS), 1);
+}
+
+inline dim3 opt_block_config(int x, int y) {
+  const int x_threads = opt_n_threads(x);
+  const int y_threads =
+      max(min(opt_n_threads(y), TOTAL_THREADS / x_threads), 1);
+  dim3 block_config(x_threads, y_threads, 1);
+
+  return block_config;
+}
+
+#define CUDA_CHECK_ERRORS()                                           \
+  do {                                                                \
+    cudaError_t err = cudaGetLastError();                             \
+    if (cudaSuccess != err) {                                         \
+      fprintf(stderr, "CUDA kernel failed : %s\n%s at L:%d in %s\n",  \
+              cudaGetErrorString(err), __PRETTY_FUNCTION__, __LINE__, \
+              __FILE__);                                              \
+      exit(-1);                                                       \
+    }                                                                 \
+  } while (0)
+
+#endif

baselines/grasping/GSNet/pointnet2/_ext_src/include/cylinder_query.h

@@ -0,0 +1,7 @@
+// Author: chenxi-wang
+
+#pragma once
+#include <torch/extension.h>
+
+at::Tensor cylinder_query(at::Tensor new_xyz, at::Tensor xyz, at::Tensor rot, const float radius, const float hmin, const float hmax,
+                      const int nsample);

baselines/grasping/GSNet/pointnet2/_ext_src/include/group_points.h

@@ -0,0 +1,10 @@
+// Copyright (c) Facebook, Inc. and its affiliates.
+// 
+// This source code is licensed under the MIT license found in the
+// LICENSE file in the root directory of this source tree.
+
+#pragma once
+#include <torch/extension.h>
+
+at::Tensor group_points(at::Tensor points, at::Tensor idx);
+at::Tensor group_points_grad(at::Tensor grad_out, at::Tensor idx, const int n);

baselines/grasping/GSNet/pointnet2/_ext_src/include/interpolate.h

@@ -0,0 +1,15 @@
+// Copyright (c) Facebook, Inc. and its affiliates.
+// 
+// This source code is licensed under the MIT license found in the
+// LICENSE file in the root directory of this source tree.
+
+#pragma once
+
+#include <torch/extension.h>
+#include <vector>
+
+std::vector<at::Tensor> three_nn(at::Tensor unknowns, at::Tensor knows);
+at::Tensor three_interpolate(at::Tensor points, at::Tensor idx,
+                             at::Tensor weight);
+at::Tensor three_interpolate_grad(at::Tensor grad_out, at::Tensor idx,
+                                  at::Tensor weight, const int m);

baselines/grasping/GSNet/pointnet2/_ext_src/include/sampling.h

@@ -0,0 +1,11 @@
+// Copyright (c) Facebook, Inc. and its affiliates.
+// 
+// This source code is licensed under the MIT license found in the
+// LICENSE file in the root directory of this source tree.
+
+#pragma once
+#include <torch/extension.h>
+
+at::Tensor gather_points(at::Tensor points, at::Tensor idx);
+at::Tensor gather_points_grad(at::Tensor grad_out, at::Tensor idx, const int n);
+at::Tensor furthest_point_sampling(at::Tensor points, const int nsamples);

baselines/grasping/GSNet/pointnet2/_ext_src/include/utils.h

@@ -0,0 +1,30 @@
+// Copyright (c) Facebook, Inc. and its affiliates.
+// 
+// This source code is licensed under the MIT license found in the
+// LICENSE file in the root directory of this source tree.
+
+#pragma once
+#include <ATen/cuda/CUDAContext.h>
+#include <torch/extension.h>
+
+#define CHECK_CUDA(x)                                          \
+  do {                                                         \
+    TORCH_CHECK(x.type().is_cuda(), #x " must be a CUDA tensor"); \
+  } while (0)
+
+#define CHECK_CONTIGUOUS(x)                                         \
+  do {                                                              \
+    TORCH_CHECK(x.is_contiguous(), #x " must be a contiguous tensor"); \
+  } while (0)
+
+#define CHECK_IS_INT(x)                              \
+  do {                                               \
+    TORCH_CHECK(x.scalar_type() == at::ScalarType::Int, \
+             #x " must be an int tensor");           \
+  } while (0)
+
+#define CHECK_IS_FLOAT(x)                              \
+  do {                                                 \
+    TORCH_CHECK(x.scalar_type() == at::ScalarType::Float, \
+             #x " must be a float tensor");            \
+  } while (0)