voxelGenerator.h

/*
 * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
 *
 * 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 _VOXEL_GENERATOR_H_
#define _VOXEL_GENERATOR_H_

#include <memory>
#include <vector>
#include <string>
#include <cuda_runtime_api.h>
#include "NvInferPlugin.h"
#include "kernel.h"
#include "bboxUtils.h"

namespace nvinfer1
{
namespace plugin
{

class VoxelGeneratorPlugin : public nvinfer1::IPluginV2DynamicExt
{
public:

    VoxelGeneratorPlugin() = delete;
    VoxelGeneratorPlugin(int max_voxels, int max_points, int voxel_features, float x_min,
              float x_max, float y_min, float y_max, float z_min, float z_max,
              float pillar_x, float pillar_y, float pillar_z);
    VoxelGeneratorPlugin(int max_voxels, int max_points, int voxel_features, float x_min,
              float x_max, float y_min, float y_max, float z_min, float z_max,
              float pillar_x, float pillar_y, float pillar_z, int point_features,
              int grid_x, int grid_y, int grid_z);
    VoxelGeneratorPlugin(const void* data, size_t length);
    // IPluginV2DynamicExt Methods
    nvinfer1::IPluginV2DynamicExt* clone() const noexcept override;
    nvinfer1::DimsExprs getOutputDimensions(int outputIndex, 
        const nvinfer1::DimsExprs* inputs, int nbInputs,
        nvinfer1::IExprBuilder& exprBuilder) noexcept override;
    bool supportsFormatCombination(
        int pos, const nvinfer1::PluginTensorDesc* inOut, 
        int nbInputs, int nbOutputs) noexcept override;
    void configurePlugin(const nvinfer1::DynamicPluginTensorDesc* in, int nbInputs,
        const nvinfer1::DynamicPluginTensorDesc* out, int nbOutputs) noexcept override;
    size_t getWorkspaceSize(const nvinfer1::PluginTensorDesc* inputs, int nbInputs,
        const nvinfer1::PluginTensorDesc* outputs, int nbOutputs) const noexcept override;
    int enqueue(const nvinfer1::PluginTensorDesc* inputDesc, 
        const nvinfer1::PluginTensorDesc* outputDesc,
        const void* const* inputs, void* const* outputs, 
        void* workspace, cudaStream_t stream) noexcept override;
    // IPluginV2Ext Methods
    nvinfer1::DataType getOutputDataType(int index, const nvinfer1::DataType* inputTypes, 
        int nbInputs) const noexcept override;
    // IPluginV2 Methods
    const char* getPluginType() const noexcept override;
    const char* getPluginVersion() const noexcept override;
    int getNbOutputs() const noexcept override;
    int 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(const char* pluginNamespace) noexcept override;
    const char* getPluginNamespace() const noexcept override;

private:
    std::string mNamespace;
    // Shape Num for *input*
    int pillarNum_;
    int pointNum_;
    int featureNum_;
    float min_x_range_;
    float max_x_range_;
    float min_y_range_;
    float max_y_range_;
    float min_z_range_;
    float max_z_range_;
    float pillar_x_size_;
    float pillar_y_size_;
    float pillar_z_size_;
    // feature number of pointcloud points: 4 or 5
    int pointFeatureNum_;
    int grid_x_size_;
    int grid_y_size_;
    int grid_z_size_;
};

class VoxelGeneratorPluginCreator : public nvinfer1::IPluginCreator
{
public:
    VoxelGeneratorPluginCreator();
    const char* getPluginName() const noexcept override;
    const char* getPluginVersion() const noexcept override;
    const nvinfer1::PluginFieldCollection* getFieldNames() noexcept override;
    nvinfer1::IPluginV2* createPlugin(const char* name, const nvinfer1::PluginFieldCollection* fc) noexcept override;
    nvinfer1::IPluginV2* deserializePlugin(const char* name, const void* serialData, size_t serialLength) noexcept override;
    void setPluginNamespace(const char* pluginNamespace) noexcept override;
    const char* getPluginNamespace() const noexcept override;

private:
    static nvinfer1::PluginFieldCollection mFC;
    static std::vector<nvinfer1::PluginField> mPluginAttributes;
    std::string mNamespace;
};

} // namespace plugin
} // namespace nvinfer1

#endif