chore: import upstream snapshot with attribution

2026-07-13 13:36:55 +08:00
commit c8a779b1bb
1887 changed files with 3245738 additions and 0 deletions
@@ -0,0 +1,114 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 1993-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <iostream>
+#include <cuda_runtime_api.h>
+#include <cuda_fp16.h>
+
+namespace nvinfer1
+{
+namespace plugin
+{
+const int PILLARS_PER_BLOCK = 64;
+const int PILLAR_FEATURE_SIZE = 64;
+
+template <typename Element>
+__global__ void scatterBEV_kernel(const Element *pillar_features_data,
+          const unsigned int *coords_data, const unsigned int *params_data,
+          unsigned int featureX, unsigned int featureY,
+          Element *spatial_feature_data)
+{
+    int pillar_idx = blockIdx.x * PILLARS_PER_BLOCK + threadIdx.x;
+    int valid_pillars_inBlock = PILLARS_PER_BLOCK;
+    const int num_pillars = params_data[0];
+    int valid_blocks = (num_pillars+PILLARS_PER_BLOCK-1)/PILLARS_PER_BLOCK;
+    if(blockIdx.x >= valid_blocks) return;
+    if(blockIdx.x == (valid_blocks-1)) {
+      valid_pillars_inBlock = num_pillars % PILLARS_PER_BLOCK;
+    }
+    valid_pillars_inBlock = (valid_pillars_inBlock==0) ? PILLARS_PER_BLOCK : valid_pillars_inBlock;
+    __shared__ Element pillarSM[PILLARS_PER_BLOCK][PILLAR_FEATURE_SIZE]; //pillar*64
+    for (int i = 0; i < valid_pillars_inBlock; i++)
+    {
+      pillarSM[i][threadIdx.x] = pillar_features_data[ (blockIdx.x * PILLARS_PER_BLOCK +i)*PILLAR_FEATURE_SIZE + threadIdx.x];
+    }
+    __syncthreads();
+    if(pillar_idx >= num_pillars) return;
+    int4 coord = ((const int4 *)coords_data)[pillar_idx];
+    int x = coord.w;
+    int y = coord.z;
+    for (int i = 0; i < PILLAR_FEATURE_SIZE; i++)
+    {
+      spatial_feature_data[i*featureY*featureX + y*featureX + x] = pillarSM[threadIdx.x][i];
+    }
+}
+
+template <typename Element>
+int pillarScatterKernelLaunch(
+  int batch_size,
+  int max_pillar_num,
+  int num_features,
+  const Element *pillar_features_data,
+  const unsigned int *coords_data,
+  const unsigned int *params_data,
+  unsigned int featureX, unsigned int featureY,
+  Element *spatial_feature_data,
+  cudaStream_t stream)
+{
+    dim3 blocks( (featureX*featureY+PILLARS_PER_BLOCK-1)/PILLARS_PER_BLOCK);
+    dim3 threads(PILLARS_PER_BLOCK);
+    for (int b = 0; b < batch_size; b++) {
+      scatterBEV_kernel<Element><<<blocks, threads, 0, stream>>>
+        (pillar_features_data + b*max_pillar_num*num_features,
+         coords_data + b*max_pillar_num*4,
+         params_data + b,
+         featureX,
+         featureY,
+         spatial_feature_data + b*num_features*featureX*featureY
+        );
+      auto err = cudaGetLastError();
+      if (cudaSuccess != err) {
+          fprintf(stderr, "CUDA kernel failed : %s\n", cudaGetErrorString(err));
+          return -1;
+      }
+    }
+    return 0;
+}
+
+template int pillarScatterKernelLaunch<half>(
+  int batch_size,
+  int max_pillar_num,
+  int num_features,
+  const half *pillar_features_data,
+  const unsigned int *coords_data,
+  const unsigned int *params_data,
+  unsigned int featureX, unsigned int featureY,
+  half *spatial_feature_data,
+  cudaStream_t stream);
+
+template int pillarScatterKernelLaunch<float>(
+  int batch_size,
+  int max_pillar_num,
+  int num_features,
+  const float *pillar_features_data,
+  const unsigned int *coords_data,
+  const unsigned int *params_data,
+  unsigned int featureX, unsigned int featureY,
+  float *spatial_feature_data,
+  cudaStream_t stream);
+} // namespace plugin
+} // namespace nvinfer1