def forward(ctx, radius, nsample, xyz, new_xyz):
# type: (Any, float, int, torch.Tensor, torch.Tensor) -> torch.Tensor
r"""
Parameters
----------
radius : float
radius of the balls
nsample : int
maximum number of features in the balls
xyz : torch.Tensor
(B, N, 3) xyz coordinates of the features
new_xyz : torch.Tensor
(B, npoint, 3) centers of the ball query
Returns
-------
torch.Tensor
(B, npoint, nsample) tensor with the indicies of the features that form the query balls
"""
output = _ext.ball_query(new_xyz, xyz, radius, nsample)
ctx.mark_non_differentiable(output)
return output
def forward(ctx, radius: float, nsample: int, xyz: torch.Tensor,
new_xyz: torch.Tensor,
fps_idx: torch.IntTensor) -> torch.Tensor:
r"""
Parameters
----------
radius : float
radius of the balls
nsample : int
maximum number of features in the balls
xyz : torch.Tensor
(B, N, 3) xyz coordinates of the features
new_xyz : torch.Tensor
(B, npoint, 3) centers of the ball query
Returns
-------
torch.Tensor
(B, npoint, nsample) tensor with the indicies of the features that form the query balls
"""
assert new_xyz.is_contiguous()
assert xyz.is_contiguous()
"""B, N, _ = xyz.size()
npoint = new_xyz.size(1)
idx = torch.cuda.IntTensor(B, npoint, nsample).zero_()
pointnet2.ball_query_wrapper(
B, N, npoint, radius, nsample, new_xyz, xyz, fps_idx, idx
)
"""
idx = _ext.ball_query(new_xyz, xyz, radius, nsample)
return torch.cat([fps_idx.unsqueeze(2), idx], dim=2)
