From 9f85b6e0d6a6c14a0b18d413e28e2f320c9b6779 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon, 11 Dec 2023 10:16:28 +0900 Subject: [PATCH] fix(lidar_centerpoint,image_projection_based_fusion): add guard to avoid exceeding max voxel size (#5824) --- .../pointpainting_fusion/preprocess_kernel.hpp | 5 +++-- .../src/pointpainting_fusion/pointpainting_trt.cpp | 4 ++-- .../src/pointpainting_fusion/preprocess_kernel.cu | 13 ++++++++----- .../preprocess/preprocess_kernel.hpp | 5 +++-- .../lidar_centerpoint/lib/centerpoint_trt.cpp | 4 ++-- .../lib/preprocess/preprocess_kernel.cu | 13 ++++++++----- 6 files changed, 26 insertions(+), 18 deletions(-) diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp b/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp index c913ac33d5e84..897609fa3d86d 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp +++ b/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp @@ -27,8 +27,9 @@ cudaError_t generateVoxels_random_launch( cudaStream_t stream); cudaError_t generateBaseFeatures_launch( - unsigned int * mask, float * voxels, int grid_y_size, int grid_x_size, unsigned int * pillar_num, - float * voxel_features, float * voxel_num, int * voxel_idxs, cudaStream_t stream); + unsigned int * mask, float * voxels, int grid_y_size, int grid_x_size, int max_voxel_size, + unsigned int * pillar_num, float * voxel_features, float * voxel_num, int * voxel_idxs, + cudaStream_t stream); cudaError_t generateFeatures_launch( const float * voxel_features, const float * voxel_num_points, const int * coords, diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp index 8911442f4c75d..d44620995c61b 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp @@ -69,8 +69,8 @@ bool PointPaintingTRT::preprocess( CHECK_CUDA_ERROR(image_projection_based_fusion::generateBaseFeatures_launch( mask_d_.get(), voxels_buffer_d_.get(), config_.grid_size_y_, config_.grid_size_x_, - num_voxels_d_.get(), voxels_d_.get(), num_points_per_voxel_d_.get(), coordinates_d_.get(), - stream_)); + config_.max_voxel_size_, num_voxels_d_.get(), voxels_d_.get(), num_points_per_voxel_d_.get(), + coordinates_d_.get(), stream_)); CHECK_CUDA_ERROR(image_projection_based_fusion::generateFeatures_launch( voxels_d_.get(), num_points_per_voxel_d_.get(), coordinates_d_.get(), num_voxels_d_.get(), diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu b/perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu index d06b60633acf8..68e08ac61a569 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu @@ -105,8 +105,8 @@ cudaError_t generateVoxels_random_launch( } __global__ void generateBaseFeatures_kernel( - unsigned int * mask, float * voxels, int grid_y_size, int grid_x_size, unsigned int * pillar_num, - float * voxel_features, float * voxel_num, int * voxel_idxs) + unsigned int * mask, float * voxels, int grid_y_size, int grid_x_size, int max_voxel_size, + unsigned int * pillar_num, float * voxel_features, float * voxel_num, int * voxel_idxs) { unsigned int voxel_idx = blockIdx.x * blockDim.x + threadIdx.x; unsigned int voxel_idy = blockIdx.y * blockDim.y + threadIdx.y; @@ -120,6 +120,7 @@ __global__ void generateBaseFeatures_kernel( unsigned int current_pillarId = 0; current_pillarId = atomicAdd(pillar_num, 1); + if (current_pillarId > max_voxel_size - 1) return; voxel_num[current_pillarId] = count; @@ -140,15 +141,17 @@ __global__ void generateBaseFeatures_kernel( // create 4 channels cudaError_t generateBaseFeatures_launch( - unsigned int * mask, float * voxels, int grid_y_size, int grid_x_size, unsigned int * pillar_num, - float * voxel_features, float * voxel_num, int * voxel_idxs, cudaStream_t stream) + unsigned int * mask, float * voxels, int grid_y_size, int grid_x_size, int max_voxel_size, + unsigned int * pillar_num, float * voxel_features, float * voxel_num, int * voxel_idxs, + cudaStream_t stream) { dim3 threads = {32, 32}; dim3 blocks = { (grid_x_size + threads.x - 1) / threads.x, (grid_y_size + threads.y - 1) / threads.y}; generateBaseFeatures_kernel<<>>( - mask, voxels, grid_y_size, grid_x_size, pillar_num, voxel_features, voxel_num, voxel_idxs); + mask, voxels, grid_y_size, grid_x_size, max_voxel_size, pillar_num, voxel_features, voxel_num, + voxel_idxs); cudaError_t err = cudaGetLastError(); return err; } diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/preprocess/preprocess_kernel.hpp b/perception/lidar_centerpoint/include/lidar_centerpoint/preprocess/preprocess_kernel.hpp index 824144fe3b22b..9488b67475509 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/preprocess/preprocess_kernel.hpp +++ b/perception/lidar_centerpoint/include/lidar_centerpoint/preprocess/preprocess_kernel.hpp @@ -27,8 +27,9 @@ cudaError_t generateVoxels_random_launch( cudaStream_t stream); cudaError_t generateBaseFeatures_launch( - unsigned int * mask, float * voxels, int grid_y_size, int grid_x_size, unsigned int * pillar_num, - float * voxel_features, float * voxel_num, int * voxel_idxs, cudaStream_t stream); + unsigned int * mask, float * voxels, int grid_y_size, int grid_x_size, int max_voxel_size, + unsigned int * pillar_num, float * voxel_features, float * voxel_num, int * voxel_idxs, + cudaStream_t stream); cudaError_t generateFeatures_launch( const float * voxel_features, const float * voxel_num_points, const int * coords, diff --git a/perception/lidar_centerpoint/lib/centerpoint_trt.cpp b/perception/lidar_centerpoint/lib/centerpoint_trt.cpp index acdcad1b54c40..b2b0cd4ea7b6e 100644 --- a/perception/lidar_centerpoint/lib/centerpoint_trt.cpp +++ b/perception/lidar_centerpoint/lib/centerpoint_trt.cpp @@ -156,8 +156,8 @@ bool CenterPointTRT::preprocess( CHECK_CUDA_ERROR(generateBaseFeatures_launch( mask_d_.get(), voxels_buffer_d_.get(), config_.grid_size_y_, config_.grid_size_x_, - num_voxels_d_.get(), voxels_d_.get(), num_points_per_voxel_d_.get(), coordinates_d_.get(), - stream_)); + config_.max_voxel_size_, num_voxels_d_.get(), voxels_d_.get(), num_points_per_voxel_d_.get(), + coordinates_d_.get(), stream_)); CHECK_CUDA_ERROR(generateFeatures_launch( voxels_d_.get(), num_points_per_voxel_d_.get(), coordinates_d_.get(), num_voxels_d_.get(), diff --git a/perception/lidar_centerpoint/lib/preprocess/preprocess_kernel.cu b/perception/lidar_centerpoint/lib/preprocess/preprocess_kernel.cu index 6f77ff84c2cea..118e31f892d72 100644 --- a/perception/lidar_centerpoint/lib/preprocess/preprocess_kernel.cu +++ b/perception/lidar_centerpoint/lib/preprocess/preprocess_kernel.cu @@ -87,8 +87,8 @@ cudaError_t generateVoxels_random_launch( } __global__ void generateBaseFeatures_kernel( - unsigned int * mask, float * voxels, int grid_y_size, int grid_x_size, unsigned int * pillar_num, - float * voxel_features, float * voxel_num, int * voxel_idxs) + unsigned int * mask, float * voxels, int grid_y_size, int grid_x_size, int max_voxel_size, + unsigned int * pillar_num, float * voxel_features, float * voxel_num, int * voxel_idxs) { unsigned int voxel_idx = blockIdx.x * blockDim.x + threadIdx.x; unsigned int voxel_idy = blockIdx.y * blockDim.y + threadIdx.y; @@ -102,6 +102,7 @@ __global__ void generateBaseFeatures_kernel( unsigned int current_pillarId = 0; current_pillarId = atomicAdd(pillar_num, 1); + if (current_pillarId > max_voxel_size - 1) return; voxel_num[current_pillarId] = count; @@ -120,15 +121,17 @@ __global__ void generateBaseFeatures_kernel( // create 4 channels cudaError_t generateBaseFeatures_launch( - unsigned int * mask, float * voxels, int grid_y_size, int grid_x_size, unsigned int * pillar_num, - float * voxel_features, float * voxel_num, int * voxel_idxs, cudaStream_t stream) + unsigned int * mask, float * voxels, int grid_y_size, int grid_x_size, int max_voxel_size, + unsigned int * pillar_num, float * voxel_features, float * voxel_num, int * voxel_idxs, + cudaStream_t stream) { dim3 threads = {32, 32}; dim3 blocks = { (grid_x_size + threads.x - 1) / threads.x, (grid_y_size + threads.y - 1) / threads.y}; generateBaseFeatures_kernel<<>>( - mask, voxels, grid_y_size, grid_x_size, pillar_num, voxel_features, voxel_num, voxel_idxs); + mask, voxels, grid_y_size, grid_x_size, max_voxel_size, pillar_num, voxel_features, voxel_num, + voxel_idxs); cudaError_t err = cudaGetLastError(); return err; }