voxelization.hpp

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 * SPDX-License-Identifier: LicenseRef-NvidiaProprietary
 *
 * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
 * property and proprietary rights in and to this material, related
 * documentation and any modifications thereto. Any use, reproduction,
 * disclosure or distribution of this material and related documentation
 * without an express license agreement from NVIDIA CORPORATION or
 * its affiliates is strictly prohibited.
 */
 
#ifndef __LIDAR_VOXELIZATION_HPP__
#define __LIDAR_VOXELIZATION_HPP__
 
#include <memory>
#include "dtype.hpp"
 
namespace bevfusion {
namespace pointpillars {
 
struct VoxelizationParameter {
    ds3d::Float3 min_range;
    ds3d::Float3 max_range;
    ds3d::Float3 voxel_size;
    ds3d::Int3 grid_size;
    int max_voxels;
    int max_points_per_voxel;
    int max_batch;   // cache memory = max_batch * max_points
    int input_feature = 4;
    int max_points;
 
    static ds3d::Int3 compute_grid_size(const ds3d::Float3& max_range, const ds3d::Float3& min_range,
                                        const ds3d::Float3& voxel_size);
};
 
class Voxelization {
  public:
    // points and voxels must be of half-float device pointer
    virtual void forward(const float * const*points, const int *num_points, unsigned int batch, void *stream = nullptr) = 0;
 
    // N x max_points_per_voxel x 9
    virtual const ds3d::half* features() = 0;
 
    // N x 4 (x, y, z, ib)
    virtual const ds3d::Int4 *indices() = 0;
 
    // (1,)  N
    virtual const unsigned int* num_voxels_device() = 0;
    virtual unsigned int num_voxels() = 0;
    virtual ~Voxelization() = default;
};
 
std::unique_ptr<Voxelization> create_voxelization(VoxelizationParameter param);
 
};  // namespace lidar
};  // namespace pointpillar
 
#endif  // __LIDAR_VOXELIZATION_HPP__