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fix(lidar_centerpoint,image_projection_based_fusion): add guard to avoid exceeding max voxel size #1065

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Dec 11, 2023
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fix(lidar_centerpoint,image_projection_based_fusion): add guard to avoid exceeding max voxel size #1065

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5 changes: 3 additions & 2 deletions ...d_fusion/include/image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
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4 changes: 2 additions & 2 deletions perception/image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp
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Expand Up @@ -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(),
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13 changes: 8 additions & 5 deletions perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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;

Expand All @@ -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<<<blocks, threads, 0, stream>>>(
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;
}
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5 changes: 3 additions & 2 deletions perception/lidar_centerpoint/include/lidar_centerpoint/preprocess/preprocess_kernel.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand Down
4 changes: 2 additions & 2 deletions perception/lidar_centerpoint/lib/centerpoint_trt.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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(),
Expand Down
13 changes: 8 additions & 5 deletions perception/lidar_centerpoint/lib/preprocess/preprocess_kernel.cu
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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;

Expand All @@ -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<<<blocks, threads, 0, stream>>>(
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;
}
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