conveying_belt_recognition/deep-hough-transform-master/chamfer_distance/chamfer_distance.cpp

#include <torch/torch.h>

// CUDA forward declarations
int ChamferDistanceKernelLauncher(
    const int b, const int n,
    const float* xyz,
    const int m,
    const float* xyz2,
    float* result,
    int* result_i,
    float* result2,
    int* result2_i);

int ChamferDistanceGradKernelLauncher(
    const int b, const int n,
    const float* xyz1,
    const int m,
    const float* xyz2,
    const float* grad_dist1,
    const int* idx1,
    const float* grad_dist2,
    const int* idx2,
    float* grad_xyz1,
    float* grad_xyz2);


void chamfer_distance_forward_cuda(
    const at::Tensor xyz1, 
    const at::Tensor xyz2, 
    const at::Tensor dist1, 
    const at::Tensor dist2, 
    const at::Tensor idx1, 
    const at::Tensor idx2) 
{
    ChamferDistanceKernelLauncher(xyz1.size(0), xyz1.size(1), xyz1.data<float>(),
                                            xyz2.size(1), xyz2.data<float>(),
                                            dist1.data<float>(), idx1.data<int>(),
                                            dist2.data<float>(), idx2.data<int>());
}

void chamfer_distance_backward_cuda(
    const at::Tensor xyz1,
    const at::Tensor xyz2, 
    at::Tensor gradxyz1, 
    at::Tensor gradxyz2, 
    at::Tensor graddist1, 
    at::Tensor graddist2, 
    at::Tensor idx1, 
    at::Tensor idx2)
{
    ChamferDistanceGradKernelLauncher(xyz1.size(0), xyz1.size(1), xyz1.data<float>(),
                                           xyz2.size(1), xyz2.data<float>(),
                                           graddist1.data<float>(), idx1.data<int>(),
                                           graddist2.data<float>(), idx2.data<int>(),
                                           gradxyz1.data<float>(), gradxyz2.data<float>());
}


void nnsearch(
    const int b, const int n, const int m,
    const float* xyz1,
    const float* xyz2,
    float* dist,
    int* idx)
{
    for (int i = 0; i < b; i++) {
        for (int j = 0; j < n; j++) {
            const float x1 = xyz1[(i*n+j)*3+0];
            const float y1 = xyz1[(i*n+j)*3+1];
            const float z1 = xyz1[(i*n+j)*3+2];
            double best = 0;
            int besti = 0;
            for (int k = 0; k < m; k++) {
                const float x2 = xyz2[(i*m+k)*3+0] - x1;
                const float y2 = xyz2[(i*m+k)*3+1] - y1;
                const float z2 = xyz2[(i*m+k)*3+2] - z1;
                const double d=x2*x2+y2*y2+z2*z2;
                if (k==0 || d < best){
                    best = d;
                    besti = k;
                }
            }
            dist[i*n+j] = best;
            idx[i*n+j] = besti;
        }
    }
}


void chamfer_distance_forward(
    const at::Tensor xyz1, 
    const at::Tensor xyz2, 
    const at::Tensor dist1, 
    const at::Tensor dist2, 
    const at::Tensor idx1, 
    const at::Tensor idx2) 
{
    const int batchsize = xyz1.size(0);
    const int n = xyz1.size(1);
    const int m = xyz2.size(1);

    const float* xyz1_data = xyz1.data<float>();
    const float* xyz2_data = xyz2.data<float>();
    float* dist1_data = dist1.data<float>();
    float* dist2_data = dist2.data<float>();
    int* idx1_data = idx1.data<int>();
    int* idx2_data = idx2.data<int>();

    nnsearch(batchsize, n, m, xyz1_data, xyz2_data, dist1_data, idx1_data);
    nnsearch(batchsize, m, n, xyz2_data, xyz1_data, dist2_data, idx2_data);
}


void chamfer_distance_backward(
    const at::Tensor xyz1, 
    const at::Tensor xyz2, 
    at::Tensor gradxyz1, 
    at::Tensor gradxyz2, 
    at::Tensor graddist1, 
    at::Tensor graddist2, 
    at::Tensor idx1, 
    at::Tensor idx2) 
{
    const int b = xyz1.size(0);
    const int n = xyz1.size(1);
    const int m = xyz2.size(1);

    const float* xyz1_data = xyz1.data<float>();
    const float* xyz2_data = xyz2.data<float>();
    float* gradxyz1_data = gradxyz1.data<float>();
    float* gradxyz2_data = gradxyz2.data<float>();
    float* graddist1_data = graddist1.data<float>();
    float* graddist2_data = graddist2.data<float>();
    const int* idx1_data = idx1.data<int>();
    const int* idx2_data = idx2.data<int>();

    for (int i = 0; i < b*n*3; i++)
        gradxyz1_data[i] = 0;
    for (int i = 0; i < b*m*3; i++)
        gradxyz2_data[i] = 0;
    for (int i = 0;i < b; i++) {
        for (int j = 0; j < n; j++) {
            const float x1 = xyz1_data[(i*n+j)*3+0];
            const float y1 = xyz1_data[(i*n+j)*3+1];
            const float z1 = xyz1_data[(i*n+j)*3+2];
            const int j2 = idx1_data[i*n+j];

            const float x2 = xyz2_data[(i*m+j2)*3+0];
            const float y2 = xyz2_data[(i*m+j2)*3+1];
            const float z2 = xyz2_data[(i*m+j2)*3+2];
            const float g = graddist1_data[i*n+j]*2;

            gradxyz1_data[(i*n+j)*3+0] += g*(x1-x2);
            gradxyz1_data[(i*n+j)*3+1] += g*(y1-y2);
            gradxyz1_data[(i*n+j)*3+2] += g*(z1-z2);
            gradxyz2_data[(i*m+j2)*3+0] -= (g*(x1-x2));
            gradxyz2_data[(i*m+j2)*3+1] -= (g*(y1-y2));
            gradxyz2_data[(i*m+j2)*3+2] -= (g*(z1-z2));
        }
        for (int j = 0; j < m; j++) {
            const float x1 = xyz2_data[(i*m+j)*3+0];
            const float y1 = xyz2_data[(i*m+j)*3+1];
            const float z1 = xyz2_data[(i*m+j)*3+2];
            const int j2 = idx2_data[i*m+j];
            const float x2 = xyz1_data[(i*n+j2)*3+0];
            const float y2 = xyz1_data[(i*n+j2)*3+1];
            const float z2 = xyz1_data[(i*n+j2)*3+2];
            const float g = graddist2_data[i*m+j]*2;
            gradxyz2_data[(i*m+j)*3+0] += g*(x1-x2);
            gradxyz2_data[(i*m+j)*3+1] += g*(y1-y2);
            gradxyz2_data[(i*m+j)*3+2] += g*(z1-z2);
            gradxyz1_data[(i*n+j2)*3+0] -= (g*(x1-x2));
            gradxyz1_data[(i*n+j2)*3+1] -= (g*(y1-y2));
            gradxyz1_data[(i*n+j2)*3+2] -= (g*(z1-z2));
        }
    }
}


PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {
    m.def("forward", &chamfer_distance_forward, "ChamferDistance forward");
    m.def("forward_cuda", &chamfer_distance_forward_cuda, "ChamferDistance forward (CUDA)");
    m.def("backward", &chamfer_distance_backward, "ChamferDistance backward");
    m.def("backward_cuda", &chamfer_distance_backward_cuda, "ChamferDistance backward (CUDA)");
}