Knn0827

mmcv/ops/csrc/pytorch/npu/knn_npu.cpp

@@ -8,11 +8,11 @@ using namespace std;
 void knn_forward_npu(int b, int n, int m, int nsample, const Tensor xyz,
                      const Tensor new_xyz, Tensor idx, Tensor dist2) {
   // transpose known from [B, N, 3] to [B, 3, N]
-  at::Tensor source = xyz.transpose(1, 2).contiguous();
+  at::Tensor source = xyz.transpose(2, 1).contiguous();
   at::Tensor target = new_xyz.contiguous();
 
   bool is_from_knn = true;
-  EXEC_NPU_CMD(aclnnKnn, source, target, nsample, is_from_knn, idx, dist2);
+  EXEC_NPU_CMD(aclnnKnn, source, target, is_from_knn, idx, dist2);
 }
 
 void knn_forward_impl(int b, int n, int m, int nsample, const Tensor xyz,

mmcv/ops/csrc/pytorch/npu/three_interpolate_npu.cpp

@@ -12,17 +12,21 @@ void three_interpolate_forward_npu(int b, int c, int m, int n,
   TORCH_CHECK((originDtype == at::kFloat || originDtype == at::kHalf),
               "three_interpolate_forward ascend only support fp32 and fp16.");
 
-  auto point_c_trans = points.transpose(1, 2);
-
+  auto point_c_trans = points.transpose(1, 2).to(at::kFloat);
+  auto weight_cast = weight.to(at::kFloat);
+  auto out_cast = out.to(at::kFloat);
   OpCommand cmd;
   cmd.Name("ThreeInterpolate")
       .Input(point_c_trans)
       .Input(idx)
-      .Input(weight)
-      .Output(out)
+      .Input(weight_cast)
+      .Output(out_cast)
       .Run();
 
-  auto output = out.view({b, n, c}).transpose(1, 2);
+  if (originDtype == at::kHalf) {
+    out_cast = out_cast.to(at::kHalf);
+  }
+  auto output = out_cast.view({b, n, c}).transpose(1, 2);
   auto res = output.contiguous();
   out.copy_(res);
 }
@@ -34,12 +38,17 @@ void three_interpolate_backward_npu(int b, int c, int n, int m,
   TORCH_CHECK((originDtype == at::kFloat || originDtype == at::kHalf),
               "three_interpolate_backward ascend only support fp32 and fp16.");
 
-  auto grad_x = at::unsqueeze(grad_out, 3);
-  auto grad_y = at::unsqueeze(grad_points, 3);
-
-  EXEC_NPU_CMD(aclnnThreeInterpolateBackward, grad_x, idx, weight, m, grad_y);
+  auto grad_x = at::unsqueeze(grad_out, 3).to(at::kFloat);
+  auto grad_y = at::unsqueeze(grad_points, 3).to(at::kFloat);
+  auto weight_cast = weight.to(at::kFloat);
+  EXEC_NPU_CMD(aclnnThreeInterpolateBackward, grad_x, idx, weight_cast, m,
+               grad_y);
 
-  auto output = at::squeeze(grad_y, 3);
+  auto grad_y_cast = grad_y;
+  if (originDtype == at::kHalf) {
+    grad_y_cast = grad_y.to(at::kHalf);
+  }
+  auto output = at::squeeze(grad_y_cast, 3);
   auto res = output.contiguous();
   grad_points.copy_(res);
 }

mmcv/ops/csrc/pytorch/npu/three_nn_npu.cpp

@@ -7,21 +7,12 @@ using namespace std;
 
 void three_nn_forward_npu(int b, int n, int m, const Tensor unknown,
                           const Tensor known, Tensor dist2, Tensor idx) {
-  // transpose known  [B, N, 3] -> [B, 3, N]
-  at::Tensor source = known.transpose(1, 2).contiguous();
+  at::Tensor source = known.contiguous();
   at::Tensor target = unknown.contiguous();
   auto originDtype = source.scalar_type();
-  if (originDtype == at::kHalf) {
-    source = source.to(at::kFloat);
-    target = target.to(at::kFloat);
-  }
 
   bool is_from_knn = false;
-  uint32_t nsample = 3;
-  EXEC_NPU_CMD(aclnnKnn, source, target, nsample, is_from_knn, idx, dist2);
-  if (originDtype == at::kHalf) {
-    dist2 = dist2.to(at::kHalf);
-  }
+  EXEC_NPU_CMD(aclnnKnn, source, target, is_from_knn, dist2);
 }
 
 void three_nn_forward_impl(int b, int n, int m, const Tensor unknown,

mmcv/ops/knn.py

@@ -61,6 +61,23 @@ def forward(ctx,
 
         B, npoint, _ = center_xyz.shape
         N = xyz.shape[1]
+        if xyz.device.type == 'npu':
+            dist = center_xyz.new_zeros((B, npoint, N)).float()
+            ext_module.knn_forward(
+                xyz,
+                center_xyz,
+                torch.Tensor([]).npu(),
+                dist,
+                b=B,
+                n=N,
+                m=npoint,
+                nsample=k)
+            dist2, idx = torch.topk(dist, k, dim=2, largest=False, sorted=True)
+            zeros_idx = torch.zeros(
+                xyz.shape[0], center_xyz.shape[1], k, dtype=torch.int32).npu()
+            idx.where(dist2 >= 1e10, zeros_idx)
+            idx = idx.transpose(2, 1).contiguous()  # [B, k, npoint]
+            return idx.int()
 
         idx = center_xyz.new_zeros((B, npoint, k)).int()
         dist2 = center_xyz.new_zeros((B, npoint, k)).float()

mmcv/ops/three_nn.py

@@ -34,6 +34,21 @@ def forward(ctx: Any, target: torch.Tensor,
 
         B, N, _ = target.size()
         m = source.size(1)
+        if source.device.type == 'npu':
+            # strict to fp32
+            source = source.transpose(2, 1).contiguous()
+            dtype_ = source.dtype
+            if dtype_ == torch.float16:
+                target = target.float()
+                source = source.float()
+            dist = target.new_empty(B, N, m)
+            ext_module.three_nn_forward(
+                target, source, dist, torch.Tensor([]).npu(), b=B, n=N, m=m)
+            dist2, idx = torch.topk(dist, 3, dim=2, largest=False, sorted=True)
+            dist2 = torch.sqrt(dist2)
+            if dtype_ == torch.float16:
+                dist2 = dist2.half()
+            return dist2, idx.int()
         dist2 = target.new_empty(B, N, 3)
         idx = target.new_empty(B, N, 3, dtype=torch.int32)