chore: import upstream snapshot with attribution

plugin/pillarScatterPlugin/CMakeLists.txt

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+#
+# SPDX-FileCopyrightText: Copyright (c) 1993-2025 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.
+#
+
+add_plugin_source(
+    pillarScatter.cpp
+    pillarScatter.h
+)
+

plugin/pillarScatterPlugin/PillarScatterPlugin_PluginConfig.yaml

@@ -0,0 +1,34 @@
+#
+# SPDX-FileCopyrightText: Copyright (c) 2022-2024 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.
+#
+---
+name: PillarScatterPlugin
+interface: "IPluginV2DynamicExt"
+versions:
+  "1":
+    attributes:
+      - dense_shape
+    attribute_types:
+      dense_shape: int32
+    attribute_length:
+      dense_shape: 2
+    attribute_options:
+      dense_shape:
+        min: "0, 0"
+        max: "=pinf, =pinf"
+    attributes_required:
+      - dense_shape
+...

plugin/pillarScatterPlugin/README.md

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+# pillarScatter Plugin [DEPRECATED]
+
+**This plugin is deprecated since TensorRT 10.12 and will be removed in a future release. No alternatives are planned to be provided.**
+
+**Table Of Contents**
+- [Description](#description)
+    * [Structure](#structure)
+- [Parameters](#parameters)
+- [Additional resources](#additional-resources)
+- [License](#license)
+- [Changelog](#changelog)
+- [Known issues](#known-issues)
+
+## Description
+
+The `pillarScatterPlugin` performs scatter of voxels for PointPillars model. This operation is roughly a sparse to dense conversion and similar to ordinary scatter operation. The difference is `pillarScatterPlugin` will only scatter voxels that are marked as valid and do nothing for invalid voxels.
+
+`pillarScatterPlugin` implements a sparse to dense conversion of voxels. The plugin takes sparse voxel values and their corresponding indices and produces a dense representation of the voxels(pillars).
+
+This plugin is optimized for the above steps and it allows you to do PointPillars inference in TensorRT.
+
+
+### Structure
+
+The `pillarScatterPlugin` takes 3 inputs; `voxels`, `voxel_coords`, and `num_pillar`.
+
+`voxels`
+The tensor of voxel values. The shape of this tensor is `[N, P, C]`, where `N` is the batch size, `P` is the maximum number of pillars per frame, and `C` is the number of features for each pillar.
+
+
+`voxel_coords`
+The dense coordinates of `voxels`. This tensor contains the coordinate of each voxel in `voxels`. The coordinates will determine which voxel goes to which index in the output dense tensor. This tensor has a shape of `[N, P, 4]`, where `N, P` are as above and `4` is the length of the coordinates encoded as `(frame_id, z, y, x)`.
+
+
+`num_pillar`
+The number of valid pillars. For each frame, the number of voxels(pillars) can be lower than the maximum pillar number `P`. Only valid pillars will be considered in this operation. Invalid pillars will simply be ignored. The dimension of this tensor is simply `[N]`.
+
+
+The `pillarScatterPlugin` generates the following 1 output:
+
+`dense_feature_map`
+The result of this operation is a dense feature map with the shape `[N, C, H, W]`, where `N, C` are as above and `H, W` are the height and width of the dense feature map. This tensor usually is a highly sparse tensor.
+
+
+## Parameters
+
+`pillarScatterPlugin` has plugin creator class `pillarScatterPluginCreator` and plugin class `pillarScatterPlugin`.
+
+The parameters are defined below and consists of the following attributes:
+
+| Type     | Parameter                | Description
+|----------|--------------------------|--------------------------------------------------------
+|`list of ints` | `dense_shape` | The shape(h, w) of the dense feature map that will be generated by this operation.
+
+## Additional resources
+
+The following resources provide a deeper understanding of the `pillarScatterPlugin` plugin:
+
+**Networks:**
+-   [PointPillars](https://arxiv.org/pdf/1812.05784)
+
+**Documentation:**
+-   [PointPillars](https://arxiv.org/pdf/1812.05784)
+
+## License
+
+For terms and conditions for use, reproduction, and distribution, see the [TensorRT Software License Agreement](https://docs.nvidia.com/deeplearning/sdk/tensorrt-sla/index.html)
+documentation.
+
+
+## Changelog
+
+May 2025
+Add deprecation note.
+
+Feb 2023
+Fixed a bug where PillarScatter would incorrectly report support for `HWC8` formats.
+
+Dec 2021
+This is the first release of this `README.md` file.
+
+
+## Known issues
+
+There are no known issues in this plugin.

plugin/pillarScatterPlugin/pillarScatter.cpp

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+/*
+ * SPDX-FileCopyrightText: Copyright (c) 1993-2026 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 "pillarScatter.h"
+#include "common/templates.h"
+#include <memory>
+#include <string_view>
+
+namespace nvinfer1::plugin
+{
+
+static char const* const kPLUGIN_VERSION{"1"};
+static char const* const kPLUGIN_NAME{"PillarScatterPlugin"};
+
+PillarScatterPlugin::PillarScatterPlugin(size_t h, size_t w)
+    : feature_y_size_(h)
+    , feature_x_size_(w)
+{
+}
+
+PillarScatterPlugin::PillarScatterPlugin(void const* data, size_t length)
+{
+    auto const* d = toPointer<char const>(data);
+    feature_y_size_ = readFromBuffer<size_t>(d);
+    feature_x_size_ = readFromBuffer<size_t>(d);
+}
+
+nvinfer1::IPluginV2DynamicExt* PillarScatterPlugin::clone() const noexcept
+{
+    try
+    {
+        auto plugin = std::make_unique<PillarScatterPlugin>(feature_y_size_, feature_x_size_);
+        plugin->setPluginNamespace(mNamespace.c_str());
+        return plugin.release();
+    }
+    catch (std::exception const& e)
+    {
+        caughtError(e);
+    }
+    return nullptr;
+}
+
+nvinfer1::DimsExprs PillarScatterPlugin::getOutputDimensions(int32_t outputIndex, nvinfer1::DimsExprs const* inputs,
+    int32_t nbInputs, nvinfer1::IExprBuilder& exprBuilder) noexcept
+{
+    PLUGIN_ASSERT(outputIndex == 0);
+    nvinfer1::DimsExprs output;
+    auto batch_size = inputs[0].d[0];
+    output.nbDims = 4;
+    output.d[0] = batch_size;
+    output.d[1] = inputs[0].d[2];
+    output.d[2] = exprBuilder.constant(feature_y_size_);
+    output.d[3] = exprBuilder.constant(feature_x_size_);
+    return output;
+}
+
+bool PillarScatterPlugin::supportsFormatCombination(
+    int32_t pos, nvinfer1::PluginTensorDesc const* inOut, int32_t nbInputs, int32_t nbOutputs) noexcept
+{
+    PLUGIN_ASSERT(nbInputs == 3);
+    PLUGIN_ASSERT(nbOutputs == 1);
+    PluginTensorDesc const& in = inOut[pos];
+    if (pos == 0)
+    {
+        return (in.type == nvinfer1::DataType::kFLOAT || in.type == nvinfer1::DataType::kHALF)
+            && (in.format == TensorFormat::kLINEAR);
+    }
+    if (pos == 1)
+    {
+        return (in.type == nvinfer1::DataType::kINT32) && (in.format == TensorFormat::kLINEAR);
+    }
+    if (pos == 2)
+    {
+        return (in.type == nvinfer1::DataType::kINT32) && (in.format == TensorFormat::kLINEAR);
+    }
+    if (pos == 3)
+    {
+        return (in.type == inOut[0].type) && (in.format == TensorFormat::kLINEAR);
+    }
+    return false;
+}
+
+void PillarScatterPlugin::configurePlugin(nvinfer1::DynamicPluginTensorDesc const* in, int32_t nbInputs,
+    nvinfer1::DynamicPluginTensorDesc const* out, int32_t nbOutputs) noexcept
+{
+    return;
+}
+
+size_t PillarScatterPlugin::getWorkspaceSize(nvinfer1::PluginTensorDesc const* inputs, int32_t nbInputs,
+    nvinfer1::PluginTensorDesc const* outputs, int32_t nbOutputs) const noexcept
+{
+    return 0;
+}
+int32_t PillarScatterPlugin::enqueue(nvinfer1::PluginTensorDesc const* inputDesc,
+    nvinfer1::PluginTensorDesc const* /* outputDesc */, void const* const* inputs, void* const* outputs,
+    void* /* workspace */, cudaStream_t stream) noexcept
+{
+    try
+    {
+        PLUGIN_VALIDATE(inputDesc != nullptr && inputs != nullptr && outputs != nullptr);
+
+        int32_t batchSize = inputDesc[0].dims.d[0];
+        int32_t maxPillarNum = inputDesc[0].dims.d[1];
+        int32_t numFeatures = inputDesc[0].dims.d[2];
+
+        nvinfer1::DataType inputType = inputDesc[0].type;
+
+        auto coords_data = static_cast<uint32_t const*>(inputs[1]);
+        auto params_data = static_cast<uint32_t const*>(inputs[2]);
+
+        uint32_t featureY = feature_y_size_;
+        uint32_t featureX = feature_x_size_;
+
+        int32_t status = -1;
+
+        if (inputType == nvinfer1::DataType::kHALF)
+        {
+            auto pillar_features_data = static_cast<half const*>(inputs[0]);
+            auto spatial_feature_data = static_cast<half*>(outputs[0]);
+            cudaMemsetAsync(
+                spatial_feature_data, 0, batchSize * numFeatures * featureY * featureX * sizeof(half), stream);
+            status = pillarScatterKernelLaunch<half>(batchSize, maxPillarNum, numFeatures, pillar_features_data,
+                coords_data, params_data, featureX, featureY, spatial_feature_data, stream);
+        }
+        else if (inputType == nvinfer1::DataType::kFLOAT)
+        {
+            auto const* pillar_features_data = static_cast<float const*>(inputs[0]);
+            auto* spatial_feature_data = static_cast<float*>(outputs[0]);
+            cudaMemsetAsync(
+                spatial_feature_data, 0, batchSize * numFeatures * featureY * featureX * sizeof(float), stream);
+            status = pillarScatterKernelLaunch<float>(batchSize, maxPillarNum, numFeatures, pillar_features_data,
+                coords_data, params_data, featureX, featureY, spatial_feature_data, stream);
+        }
+        PLUGIN_ASSERT(status == STATUS_SUCCESS);
+        return status;
+    }
+    catch (std::exception const& e)
+    {
+        caughtError(e);
+    }
+    return -1;
+}
+
+nvinfer1::DataType PillarScatterPlugin::getOutputDataType(
+    int32_t index, nvinfer1::DataType const* inputTypes, int32_t nbInputs) const noexcept
+{
+    return inputTypes[0];
+}
+
+char const* PillarScatterPlugin::getPluginType() const noexcept
+{
+    return kPLUGIN_NAME;
+}
+
+char const* PillarScatterPlugin::getPluginVersion() const noexcept
+{
+    return kPLUGIN_VERSION;
+}
+
+int32_t PillarScatterPlugin::getNbOutputs() const noexcept
+{
+    return 1;
+}
+
+int32_t PillarScatterPlugin::initialize() noexcept
+{
+    return 0;
+}
+
+void PillarScatterPlugin::terminate() noexcept {}
+
+size_t PillarScatterPlugin::getSerializationSize() const noexcept
+{
+    return 3 * sizeof(size_t);
+}
+
+void PillarScatterPlugin::serialize(void* buffer) const noexcept
+{
+    char* d = reinterpret_cast<char*>(buffer);
+    writeToBuffer<size_t>(d, feature_y_size_);
+    writeToBuffer<size_t>(d, feature_x_size_);
+}
+
+void PillarScatterPlugin::destroy() noexcept
+{
+    delete this;
+}
+
+void PillarScatterPlugin::setPluginNamespace(char const* libNamespace) noexcept
+{
+    mNamespace = libNamespace;
+}
+
+char const* PillarScatterPlugin::getPluginNamespace() const noexcept
+{
+    return mNamespace.c_str();
+}
+
+PillarScatterPluginCreator::PillarScatterPluginCreator()
+{
+    mPluginAttributes.clear();
+    mPluginAttributes.emplace_back(PluginField("dense_shape", nullptr, PluginFieldType::kINT32, 1));
+    mFC.nbFields = mPluginAttributes.size();
+    mFC.fields = mPluginAttributes.data();
+}
+
+char const* PillarScatterPluginCreator::getPluginName() const noexcept
+{
+    return kPLUGIN_NAME;
+}
+
+char const* PillarScatterPluginCreator::getPluginVersion() const noexcept
+{
+    return kPLUGIN_VERSION;
+}
+
+PluginFieldCollection const* PillarScatterPluginCreator::getFieldNames() noexcept
+{
+    return &mFC;
+}
+
+IPluginV2* PillarScatterPluginCreator::createPlugin(char const* name, PluginFieldCollection const* fc) noexcept
+{
+    try
+    {
+        PluginField const* fields = fc->fields;
+        int32_t nbFields = fc->nbFields;
+        int32_t targetH = 0;
+        int32_t targetW = 0;
+        using namespace std::string_view_literals;
+        plugin::validateRequiredAttributesExist({"dense_shape"}, fc);
+        for (int32_t i = 0; i < nbFields; ++i)
+        {
+            if (fields[i].name == "dense_shape"sv)
+            {
+                int32_t const* ts = static_cast<int32_t const*>(fields[i].data);
+                targetH = ts[0];
+                targetW = ts[1];
+                PLUGIN_VALIDATE(targetH > 0 && targetW > 0);
+            }
+        }
+        auto plugin = std::make_unique<PillarScatterPlugin>(targetH, targetW);
+        return plugin.release();
+    }
+    catch (std::exception const& e)
+    {
+        caughtError(e);
+    }
+    return nullptr;
+}
+
+IPluginV2* PillarScatterPluginCreator::deserializePlugin(
+    char const* name, void const* serialData, size_t serialLength) noexcept
+{
+    try
+    {
+        // This object will be deleted when the network is destroyed,
+        auto plugin = std::make_unique<PillarScatterPlugin>(serialData, serialLength);
+        return plugin.release();
+    }
+    catch (std::exception const& e)
+    {
+        caughtError(e);
+    }
+    return nullptr;
+}
+
+void PillarScatterPluginCreator::setPluginNamespace(char const* libNamespace) noexcept
+{
+    mNamespace = libNamespace;
+}
+
+char const* PillarScatterPluginCreator::getPluginNamespace() const noexcept
+{
+    return mNamespace.c_str();
+}
+} // namespace nvinfer1::plugin

plugin/pillarScatterPlugin/pillarScatter.h

@@ -0,0 +1,95 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 1993-2025 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.
+ */
+
+#ifndef _PILLAR_SCATTER_H_
+#define _PILLAR_SCATTER_H_
+
+#include "NvInferPlugin.h"
+#include "common/kernels/kernel.h"
+#include <cuda_runtime_api.h>
+#include <string>
+#include <vector>
+
+namespace nvinfer1
+{
+namespace plugin
+{
+
+class PillarScatterPlugin : public nvinfer1::IPluginV2DynamicExt
+{
+public:
+    PillarScatterPlugin() = delete;
+    PillarScatterPlugin(void const* data, size_t length);
+    PillarScatterPlugin(size_t h, size_t w);
+    // IPluginV2DynamicExt Methods
+    nvinfer1::IPluginV2DynamicExt* clone() const noexcept override;
+    nvinfer1::DimsExprs getOutputDimensions(int32_t outputIndex, nvinfer1::DimsExprs const* inputs, int32_t nbInputs,
+        nvinfer1::IExprBuilder& exprBuilder) noexcept override;
+    bool supportsFormatCombination(
+        int32_t pos, nvinfer1::PluginTensorDesc const* inOut, int32_t nbInputs, int32_t nbOutputs) noexcept override;
+    void configurePlugin(nvinfer1::DynamicPluginTensorDesc const* in, int32_t nbInputs,
+        nvinfer1::DynamicPluginTensorDesc const* out, int32_t nbOutputs) noexcept override;
+    size_t getWorkspaceSize(nvinfer1::PluginTensorDesc const* inputs, int32_t nbInputs,
+        nvinfer1::PluginTensorDesc const* outputs, int32_t nbOutputs) const noexcept override;
+    int32_t enqueue(nvinfer1::PluginTensorDesc const* inputDesc, nvinfer1::PluginTensorDesc const* outputDesc,
+        void const* const* inputs, void* const* outputs, void* workspace, cudaStream_t stream) noexcept override;
+    // IPluginV2Ext Methods
+    nvinfer1::DataType getOutputDataType(
+        int32_t index, nvinfer1::DataType const* inputTypes, int32_t nbInputs) const noexcept override;
+    // IPluginV2 Methods
+    char const* getPluginType() const noexcept override;
+    char const* getPluginVersion() const noexcept override;
+    int32_t getNbOutputs() const noexcept override;
+    int32_t initialize() noexcept override;
+    void terminate() noexcept override;
+    size_t getSerializationSize() const noexcept override;
+    void serialize(void* buffer) const noexcept override;
+    void destroy() noexcept override;
+    void setPluginNamespace(char const* pluginNamespace) noexcept override;
+    char const* getPluginNamespace() const noexcept override;
+
+private:
+    std::string mNamespace;
+    // the y -- output size of the 2D backbone network
+    size_t feature_y_size_;
+    // the x -- output size of the 2D backbone network
+    size_t feature_x_size_;
+};
+
+class PillarScatterPluginCreator : public nvinfer1::IPluginCreator
+{
+public:
+    PillarScatterPluginCreator();
+    char const* getPluginName() const noexcept override;
+    char const* getPluginVersion() const noexcept override;
+    nvinfer1::PluginFieldCollection const* getFieldNames() noexcept override;
+    nvinfer1::IPluginV2* createPlugin(char const* name, nvinfer1::PluginFieldCollection const* fc) noexcept override;
+    nvinfer1::IPluginV2* deserializePlugin(
+        char const* name, void const* serialData, size_t serialLength) noexcept override;
+    void setPluginNamespace(char const* pluginNamespace) noexcept override;
+    char const* getPluginNamespace() const noexcept override;
+
+private:
+    nvinfer1::PluginFieldCollection mFC;
+    std::vector<nvinfer1::PluginField> mPluginAttributes;
+    std::string mNamespace;
+};
+
+} // namespace plugin
+} // namespace nvinfer1
+
+#endif