OpenPCDet ingroup-inds库 windows编译

#include <assert.h> #include <torch/extension.h> #include <torch/serialize/tensor.h> #include <vector> #include <cstdint> #define CHECK_CUDA(x) \ TORCH_CHECK(x.device().is_cuda(), #x, " must be a CUDAtensor ") #define CHECK_CONTIGUOUS(x) \ TORCH_CHECK(x.is_contiguous(), #x, " must be contiguous ") #define CHECK_INPUT(x) \ CHECK_CUDA(x); \ CHECK_CONTIGUOUS(x) void ingroup_inds_launcher( const int64_t *group_inds_data, int64_t *out_inds_data, int N, int max_group_id ); void ingroup_inds_gpu( at::Tensor group_inds, at::Tensor out_inds ); void ingroup_inds_gpu( at::Tensor group_inds, at::Tensor out_inds ) { CHECK_INPUT(group_inds); CHECK_INPUT(out_inds); int N = group_inds.size(0); int max_group_id = group_inds.max().item().toLong(); int64_t *group_inds_data = group_inds.data_ptr<int64_t>(); int64_t *out_inds_data = out_inds.data_ptr<int64_t>(); ingroup_inds_launcher( group_inds_data, out_inds_data, N, max_group_id ); } PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) { m.def("forward", &ingroup_inds_gpu, "cuda version of get_inner_win_inds of SST"); }