RoiPoolKernel.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
//***************************************************************************************/
//
//    Based on PointRCNN Library (MIT License):
//    https://github.com/sshaoshuai/PointRCNN
//
//    Copyright (c) 2019 Shaoshuai Shi
//
//    Permission is hereby granted, free of charge, to any person obtaining a
//    copy of this software and associated documentation files (the "Software"),
//    to deal in the Software without restriction, including without limitation
//    the rights to use, copy, modify, merge, publish, distribute, sublicense,
//    and/or sell copies of the Software, and to permit persons to whom the
//    Software is furnished to do so, subject to the following conditions:
//
//    The above copyright notice and this permission notice shall be included in
//    all copies or substantial portions of the Software.
//
//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
//    THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
//    FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
//    DEALINGS IN THE SOFTWARE.
//
//***************************************************************************************/

#pragma once

namespace open3d {
namespace ml {
namespace contrib {

#ifdef BUILD_CUDA_MODULE

void roipool3dLauncher(int batch_size,
                       int pts_num,
                       int boxes_num,
                       int feature_in_len,
                       int sampled_pts_num,
                       const float *xyz,
                       const float *boxes3d,
                       const float *pts_feature,
                       float *pooled_features,
                       int *pooled_empty_flag);
#endif

}  // namespace contrib
}  // namespace ml
}  // namespace open3d