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[Fix] Fix bugs in Voxelization op (#1746)

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* Fix bugs in  Voxelization op

* fix comments

* fix lint

* add comments
This commit is contained in:
Wenhao Wu 2022-03-07 21:08:36 +08:00 committed by GitHub
parent 09b64a60b0
commit 76e870f17c
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 23 additions and 7 deletions
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30
mmcv/ops/csrc/pytorch/cpu/voxelization.cpp
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@ -26,13 +26,22 @@ void dynamic_voxelize_forward_cpu_kernel(
coor[ndim_minus_1 - j] = c; coor[ndim_minus_1 - j] = c;
} }
if (failed) // memcpy and memset will cause problem because of the memory distribution
memset(&coors[i][0], -1, NDim * sizeof(T_int)); // discontinuity of TensorAccessor, so here using loops to replace memcpy
else // or memset
memcpy(&coors[i][0], &coor[0], NDim * sizeof(T_int)); if (failed) {
for (int k = 0; k < NDim; ++k) {
coors[i][k] = -1;
}
} else {
for (int k = 0; k < NDim; ++k) {
coors[i][k] = coor[k];
}
}
} }
delete[] coor; delete[] coor;
return;
} }
template <typename T, typename T_int> template <typename T, typename T_int>
@ -72,14 +81,21 @@ void hard_voxelize_forward_cpu_kernel(
voxel_num += 1; voxel_num += 1;
coor_to_voxelidx[coor[i][0]][coor[i][1]][coor[i][2]] = voxelidx; coor_to_voxelidx[coor[i][0]][coor[i][1]][coor[i][2]] = voxelidx;
memcpy(&coors[voxelidx][0], &coor[i][0], NDim * sizeof(T_int)); // memcpy will cause problem because of the memory distribution
// discontinuity of TensorAccessor, so here using loops to replace memcpy
for (int k = 0; k < NDim; ++k) {
coors[voxelidx][k] = coor[i][k];
}
} }
// put points into voxel // put points into voxel
num = num_points_per_voxel[voxelidx]; num = num_points_per_voxel[voxelidx];
if (max_points == -1 || num < max_points) { if (max_points == -1 || num < max_points) {
memcpy(&voxels[voxelidx][num][0], &points[i][0], // memcpy will cause problem because of the memory distribution
num_features * sizeof(T)); // discontinuity of TensorAccessor, so here using loops to replace memcpy
for (int k = 0; k < num_features; ++k) {
voxels[voxelidx][num][k] = points[i][k];
}
num_points_per_voxel[voxelidx] += 1; num_points_per_voxel[voxelidx] += 1;
} }
} }