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feat: polyline preprocess #14

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merged 4 commits into from
Apr 18, 2024
Merged

feat: polyline preprocess #14

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7d23909
tmp: update topk kernel
ktro2828 Apr 17, 2024
b732f33
feat: add support of extracting topk polylines
ktro2828 Apr 18, 2024
da1f893
feat: update polyline preprocesses
ktro2828 Apr 18, 2024
c60293b
Merge remote-tracking branch 'origin/main' into feat/polyline-preprocess
ktro2828 Apr 18, 2024
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117 changes: 62 additions & 55 deletions lib/include/preprocess/polyline_preprocess_kernel.cuh
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Original file line number Diff line number Diff line change
Expand Up @@ -16,67 +16,71 @@
#define PREPROCESS__POLYLINE_PREPROCESS_KERNEL_CUH_

/**
* @brief Transform to target agent coordinates system.
* @brief Transform polylines to target agent coordinate system and extend its feature with previous
* x, y`(D->D+2)`.
*
* Points which all elements are 0.0 except of typeID are filled by 0.0 and the corresponding
* mask value is 0.0 too.
*
* @param K The number of polylines.
* @param P The number of points contained in each polyline.
* @param PointDim The number of point state dimensions.
* @param in_polyline Source polylines, in shape [K*P*PointDim].
* @param PointDim The number of point dimensions, expecting (x, y, z, dx, dy, dz, typeID).
* @param inPolyline Source polyline, in shape [K*P*D].
* @param B The number of target agents.
* @param AgentDim The number of agent state dimensions.
* @param target_state Source target state at the latest timestamp, in shape [B*AgentDim].
* @param out_polyline Output polylines, in shape [B*K*P*(PointDim+2)].
* @param out_polyline_mask Output polyline mask, in shape [B*K*P].
* @param AgentDim The number of agent state dimensions, expecting (x, y, z, length, width, height,
* yaw, vx, vy, ax, ay).
* @param targetState Source target agent states, in shape [B*AgentDim].
* @param outPolyline Output polyline, in shape [B*K*P*(PointDim+2)].
* @param outPolylineMask Output polyline mask, in shape [B*K*P].
*/
__global__ void transformPolylineKernel(
const int K, const int P, const int PointDim, const float * in_polyline, const int B,
const int AgentDim, const float * target_state, float * out_polyline, bool * out_polyline_mask);
const int K, const int P, const int PointDim, const float * inPolyline, const int B,
const int AgentDim, const float * targetState, float * outPolyline, bool * outPolylineMask);

/**
* @brief Set the previous xy position at the end of element.
* @brief Set the Previous Position Kernel object
*
* @param B The number of target agents.
* @param K The number of polylines.
* @param P The number of points contained in each polyline.
* @param D The number of point dimensions.
* @param mask The polyline mask, in shape [B*K*P].
* @param polyline The container of polylines, in shape [B*K*P*D]
* @param D The number of point dimensions, expecting (x, y, ..., preX, preY).
* @param polyline Source polyline, in shape [B*K*P*D].
*/
__global__ void setPreviousPositionKernel(
const int B, const int K, const int P, const int D, const bool * mask, float * polyline);
const int B, const int K, const int P, const int D, float * polyline);

/**
* @brief Calculate distances from targets to polylines.
* @brief Calculate center distance from target agent to each polyline.
*
* @note `inPolyline` must have been transformed to target coordinates system.
* @note Polyline must have been transformed to target agent coordinates system.
*
* @param B The number of target agents.
* @param L The number of polylines.
* @param K The number of polylines.
* @param P The number of points contained in each polyline.
* @param AgentDim The number agent state dimensions.
* @param targetState Source target agent state, in shape [B*AgentDim].
* @param PointDim The number of point dimensions.
* @param inPolyline Source polyline, in shape [B*L*P*PointDim].
* @param inPolylineMask Source polyline mask, in shape [B*K*P].
* @param outDistance Output distance, in shape [B*L].
* @param D The number of point dimensions, expecting [x, y, ...].
* @param polyline Source polyline, in shape [B*K*P*D].
* @param polylineMask Source polyline mask, in shape [B*K*P].
* @param distance Output calculated distances, in shape [B*K].
*/
__global__ void calculateCenterDistanceKernel(
const int B, const int L, const int P, const int AgentDim, const float * targetState,
const int PointDim, const float * inPolyline, const bool * inPolylineMask, float * outDistance);
const int B, const int K, const int P, const int D, const float * polyline,
const bool * polylineMask, float * distance);

/**
* @brief Extract K polylines with the smallest distances.
*
* @note This kernel is implemented using shared memory.
* @note Because this kernel supposes to allocate shared memory dynamically it is necessary to
* specify `sizeof(float) * L` in the kernel execution configuration.
*
* @param K The number elements to be extracted (K <= L).
* @param K The number of polylines to be extracted.
* @param B The number of target agents.
* @param L The number of polylines.
* @param L The number of original polylines.
* @param P The number of points contained in each polyline.
* @param D The number of point dimensions.
* @param inPolyline Source polyline, in shape [B*L*P*D].
* @param inPolylineMask Source polyline mask, in shape [B*L*P].
* @param inDistance Source polyline distances, in shape [B*L].
* @param inDistance Source distances from target agents to the centers of each polyline, in shape
* [B*L].
* @param outPolyline Output polyline, in shape [B*K*P*D].
* @param outPolylineMask Output polyline mask, in shape [B*K*P].
*/
Expand All @@ -86,64 +90,67 @@ __global__ void extractTopKPolylineKernel(
bool * outPolylineMask);

/**
* @brief Calculate the magnitudes of polylines.
* @brief Calculate center positions of each polyline with respect to target agent coordinates
* system.
*
* @note Polyline must have been transformed to target agent coordinates system.
*
* @param B The number of target agents.
* @param K The number of polylines.
* @param P The number of points contained in each polyline.
* @param D The number of point dimensions.
* @param polyline Source polylines, in shape [B*K*P*(D + 2)].
* @param mask Source polyline masks, in shape [B*K*P].
* @param center Output magnitudes of polylines, in shape [B*K*3].
* @param D The number of point dimensions, expecting (x, y, z, ...).
* @param polyline Source polyline, in shape [B*K*P*D].
* @param polylineMask Source polyline mask, in shape [B*K*P].
* @param center Output centers, in shape [B*K*3].
*/
__global__ void calculatePolylineCenterKernel(
const int B, const int K, const int P, const int PointDim, const float * polyline,
const bool * mask, float * center);
const int B, const int K, const int P, const int D, const float * polyline,
const bool * polylineMask, float * center);

/**
* @brief In cases of the number of batch polylines (L) is greater than K,
* extracts the topK elements.
*
* @param L The number of source polylines.
* @param K The number of polylines expected as the model input.
* @param K The number of polylines to be extracted.
* @param L The number of original polylines.
* @param P The number of points contained in each polyline.
* @param PointDim The number of point state dimensions.
* @param AgentDim The number of agent state dimensions.
* @param in_polyline Source polylines, in shape [L*P*PointDim].
* @param inPolyline Source polylines, in shape [L*P*PointDim].
* @param B The number of target agents.
* @param target_state Target agent state at the latest timestamp, in shape [B, AgentDim].
* @param out_polyline Output polylines, in shape [B*K*P*(PointDim+2)].
* @param out_polyline_mask Output polyline masks, in shape [B*K*P].
* @param out_polyline_center Output magnitudes of each polyline with respect to target coords,
* @param AgentDim The number of agent state dimensions.
* @param targetState Target agent state at the latest timestamp, in shape [B*AgentDim].
* @param outPolyline Output polylines, in shape [B*K*P*(PointDim+2)].
* @param outPolylineMask Output polyline masks, in shape [B*K*P].
* @param outPolylineCenter Output magnitudes of each polyline with respect to target coords,
* in shape [B*K*3].
* @param stream CUDA stream.
* @return cudaError_t
*/
cudaError_t polylinePreprocessWithTopkLauncher(
const int L, const int K, const int P, const int PointDim, const float * in_polyline, const int B,
const int AgentDim, const float * target_state, float * out_polyline, bool * out_polyline_mask,
float * out_polyline_center, cudaStream_t stream);
const int K, const int L, const int P, const int PointDim, const float * inPolyline, const int B,
const int AgentDim, const float * targetState, float * outPolyline, bool * outPolylineMask,
float * outPolylineCenter, cudaStream_t stream);

/**
* @brief Do preprocess for polyline if the number of batched polylines is K.
*
* @param K The number of polylines.
* @param P The number of points contained in each polyline.
* @param PointDim The number of point state dimensions.
* @param in_polyline Source polylines, in shape [K*P*PointDim].
* @param inPolyline Source polylines, in shape [K*P*PointDim].
* @param B The number of target agents.
* @param AgentDim The number of agent state dimensions.
* @param target_state Target agent state at the latest timestamp, in shape [B, AgentDim].
* @param out_polyline Output polylines, in shape [B*K*P*(PointDim + 2)].
* @param out_polyline_mask Output polyline masks, in shape [B*K*P].
* @param out_polyline_center Output magnitudes of each polyline with respect to target coords,
* @param targetState Target agent state at the latest timestamp, in shape [B*AgentDim].
* @param outPolyline Output polylines, in shape [B*K*P*(PointDim+2)].
* @param outPolylineMask Output polyline masks, in shape [B*K*P].
* @param outPolylineCenter Output magnitudes of each polyline with respect to target coords,
* in shape [B*K*3].
* @param stream CUDA stream.
* @return cudaError_t
*/
cudaError_t polylinePreprocessLauncher(
const int K, const int P, const int PointDim, const float * in_polyline, const int B,
const int AgentDim, const float * target_state, float * out_polyline, bool * out_polyline_mask,
float * out_polyline_center, cudaStream_t stream);
const int K, const int P, const int PointDim, const float * inPolyline, const int B,
const int AgentDim, const float * targetState, float * outPolyline, bool * outPolylineMask,
float * outPolylineCenter, cudaStream_t stream);

#endif // PREPROCESS__POLYLINE_PREPROCESS_KERNEL_CUH_
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