FPS(Farthest Point Sampling) 编译笔记

目录

作者自己实现了一版：

c代码：

FPS(Farthest Point Sampling)--最远点采样算法

报错代码：

报错解决方法：

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作者自己实现了一版：

extension-cpp/cuda/setup.py at dbf58c505fe5035eccdb71195b6e49c6694f7bbc · hetong007/extension-cpp · GitHub

c代码：

https://github.com/Barbany/fps_cuda/tree/main

FPS(Farthest Point Sampling)--最远点采样算法

新版代码：

pointnet2_ops_lib/pointnet2_ops_lib/pointnet2_ops/pointnet2_utils.py at main · ybhhdt/pointnet2_ops_lib · GitHub

class BallQuery(Function):@staticmethoddef forward(ctx, radius, nsample, xyz, new_xyz):# type: (Any, float, int, torch.Tensor, torch.Tensor) -> torch.Tensorr"""Parameters----------radius : floatradius of the ballsnsample : intmaximum number of features in the ballsxyz : torch.Tensor(B, N, 3) xyz coordinates of the featuresnew_xyz : torch.Tensor(B, npoint, 3) centers of the ball queryReturns-------torch.Tensor(B, npoint, nsample) tensor with the indicies of the features that form the query balls"""idx, pts_cnt= _ext.ball_query(new_xyz, xyz, radius, nsample)ctx.mark_non_differentiable(idx)ctx.mark_non_differentiable(pts_cnt)return idx, pts_cnt

报错代码：

 import torch
from torch.autograd import Functiontry:import builtins
except:import __builtin__ as builtinstry:import fps_cuda._ext as _ext
except ImportError:if not getattr(builtins, "__POINTNET2_SETUP__", False):raise ImportError("Could not import _ext module.\n""Please see the setup instructions in the README: ""https://github.com/erikwijmans/Pointnet2_PyTorch/blob/master/README.rst")class FurthestPointSampling(Function):@staticmethoddef forward(ctx, xyz, npoint):# type: (Any, torch.Tensor, int) -> torch.Tensorr"""Uses iterative furthest point sampling to select a set of npoint features that have the largestminimum distanceParameters----------xyz : torch.Tensor(B, N, 3) tensor where N > npointnpoint : int32number of features in the sampled setReturns-------torch.Tensor(B, npoint) tensor containing the set"""fps_inds = _ext.furthest_point_sampling(xyz, npoint)ctx.mark_non_differentiable(fps_inds)return fps_inds@staticmethoddef backward(xyz, a=None):return None, Nonefurthest_point_sample = FurthestPointSampling.apply    xyz = torch.randn(5,1024,3)
npoint=512
fps_inds = furthest_point_sample(xyz, npoint)
# ctx.mark_non_differentiable(fps_inds)
print(fps_inds)

RuntimeError: Unknown layout in MultiScaleDeformableAttnFunction · Issue #284 · IDEA-Research/GroundingDINO · GitHub

报错解决方法：

pip install torch==2.1.0 torchvision==0.16.0 torchaudio==2.1.0 --index-url https://download.pytorch.org/whl/cu118