mini_dpvo/lietorch/src/lietorch.cpp

#include <torch/extension.h>
#include <vector>
#include "lietorch_gpu.h"
#include "lietorch_cpu.h"


#define CHECK_CONTIGUOUS(x) TORCH_CHECK(x.is_contiguous(), #x " must be contiguous")


/* Interface for cuda and c++ group operations

    enum group_t { SO3=1, SE3=2, Sim3=3 };
    X, Y, Z: (uppercase) Lie Group Elements
    a, b, c: (lowercase) Lie Algebra Elements
*/

// Unary operations
torch::Tensor expm(int group_index, torch::Tensor a) {
    CHECK_CONTIGUOUS(a);
    if (a.device().type() == torch::DeviceType::CPU) {
        return exp_forward_cpu(group_index, a);

    } else if (a.device().type() == torch::DeviceType::CUDA) {
        return exp_forward_gpu(group_index, a);
    }

    return a;
}

std::vector<torch::Tensor> expm_backward(int group_index, torch::Tensor grad, torch::Tensor a) {
    CHECK_CONTIGUOUS(a);
    CHECK_CONTIGUOUS(grad);
    if (a.device().type() == torch::DeviceType::CPU) {
        return exp_backward_cpu(group_index, grad, a);

    } else if (a.device().type() == torch::DeviceType::CUDA) {
        return exp_backward_gpu(group_index, grad, a);
    }

    return {};
}

torch::Tensor logm(int group_index, torch::Tensor X) {
    CHECK_CONTIGUOUS(X);
    if (X.device().type() == torch::DeviceType::CPU) {
        return log_forward_cpu(group_index, X);

    } else if (X.device().type() == torch::DeviceType::CUDA) {
        return log_forward_gpu(group_index, X);
    }

    return X;
}

std::vector<torch::Tensor> logm_backward(int group_index, torch::Tensor grad, torch::Tensor X) {
    CHECK_CONTIGUOUS(X);
    CHECK_CONTIGUOUS(grad);

    if (X.device().type() == torch::DeviceType::CPU) {
        return log_backward_cpu(group_index, grad, X);

    } else if (X.device().type() == torch::DeviceType::CUDA) {
        return log_backward_gpu(group_index, grad, X);
    }

    return {};
}

torch::Tensor inv(int group_index, torch::Tensor X) {
    CHECK_CONTIGUOUS(X);

    if (X.device().type() == torch::DeviceType::CPU) {
        return inv_forward_cpu(group_index, X);
    } else if (X.device().type() == torch::DeviceType::CUDA) {
        return inv_forward_gpu(group_index, X);
    }

    return X;
}

std::vector<torch::Tensor> inv_backward(int group_index, torch::Tensor grad, torch::Tensor X) {
    CHECK_CONTIGUOUS(X);
    CHECK_CONTIGUOUS(grad);

    if (X.device().type() == torch::DeviceType::CPU) {
        return inv_backward_cpu(group_index, grad, X);

    } else if (X.device().type() == torch::DeviceType::CUDA) {
        return inv_backward_gpu(group_index, grad, X);
    }

    return {};
}

// Binary operations

torch::Tensor mul(int group_index, torch::Tensor X, torch::Tensor Y) {
    CHECK_CONTIGUOUS(X);
    CHECK_CONTIGUOUS(Y);

    if (X.device().type() == torch::DeviceType::CPU) {
        return mul_forward_cpu(group_index, X, Y);

    } else if (X.device().type() == torch::DeviceType::CUDA) {
        return mul_forward_gpu(group_index, X, Y);
    }

    return X;
}

std::vector<torch::Tensor> mul_backward(int group_index, torch::Tensor grad, torch::Tensor X, torch::Tensor Y) {
    CHECK_CONTIGUOUS(X);
    CHECK_CONTIGUOUS(Y);
    CHECK_CONTIGUOUS(grad);

    if (X.device().type() == torch::DeviceType::CPU) {
        return mul_backward_cpu(group_index, grad, X, Y);

    } else if (X.device().type() == torch::DeviceType::CUDA) {
        return mul_backward_gpu(group_index, grad, X, Y);
    }

    return {};
}

torch::Tensor adj(int group_index, torch::Tensor X, torch::Tensor a) {
    CHECK_CONTIGUOUS(X);
    CHECK_CONTIGUOUS(a);

    if (X.device().type() == torch::DeviceType::CPU) {
        return adj_forward_cpu(group_index, X, a);

    } else if (X.device().type() == torch::DeviceType::CUDA) {
        return adj_forward_gpu(group_index, X, a);
    }

    return X;
}

std::vector<torch::Tensor> adj_backward(int group_index, torch::Tensor grad, torch::Tensor X, torch::Tensor a) {
    CHECK_CONTIGUOUS(X);
    CHECK_CONTIGUOUS(a);
    CHECK_CONTIGUOUS(grad);

    if (X.device().type() == torch::DeviceType::CPU) {
        return adj_backward_cpu(group_index, grad, X, a);

    } else if (X.device().type() == torch::DeviceType::CUDA) {
        return adj_backward_gpu(group_index, grad, X, a);
    }

    return {};
}

torch::Tensor adjT(int group_index, torch::Tensor X, torch::Tensor a) {
    CHECK_CONTIGUOUS(X);
    CHECK_CONTIGUOUS(a);
    
    if (X.device().type() == torch::DeviceType::CPU) {
        return adjT_forward_cpu(group_index, X, a);

    } else if (X.device().type() == torch::DeviceType::CUDA) {
        return adjT_forward_gpu(group_index, X, a);
    }

    return X;
}

std::vector<torch::Tensor> adjT_backward(int group_index, torch::Tensor grad, torch::Tensor X, torch::Tensor a) {
    CHECK_CONTIGUOUS(X);
    CHECK_CONTIGUOUS(a);
    CHECK_CONTIGUOUS(grad);
    
    if (X.device().type() == torch::DeviceType::CPU) {
        return adjT_backward_cpu(group_index, grad, X, a);

    } else if (X.device().type() == torch::DeviceType::CUDA) {
        return adjT_backward_gpu(group_index, grad, X, a);
    }

    return {};
}


torch::Tensor act(int group_index, torch::Tensor X, torch::Tensor p) {
    CHECK_CONTIGUOUS(X);
    CHECK_CONTIGUOUS(p);

    if (X.device().type() == torch::DeviceType::CPU) {
        return act_forward_cpu(group_index, X, p);

    } else if (X.device().type() == torch::DeviceType::CUDA) {
        return act_forward_gpu(group_index, X, p);
    }

    return X;
}

std::vector<torch::Tensor> act_backward(int group_index, torch::Tensor grad, torch::Tensor X, torch::Tensor p) {
    CHECK_CONTIGUOUS(X);
    CHECK_CONTIGUOUS(p);
    CHECK_CONTIGUOUS(grad);

    if (X.device().type() == torch::DeviceType::CPU) {
        return act_backward_cpu(group_index, grad, X, p);

    } else if (X.device().type() == torch::DeviceType::CUDA) {
        return act_backward_gpu(group_index, grad, X, p);
    }

    return {};
}

torch::Tensor act4(int group_index, torch::Tensor X, torch::Tensor p) {
    CHECK_CONTIGUOUS(X);
    CHECK_CONTIGUOUS(p);
    
    if (X.device().type() == torch::DeviceType::CPU) {
        return act4_forward_cpu(group_index, X, p);

    } else if (X.device().type() == torch::DeviceType::CUDA) {
        return act4_forward_gpu(group_index, X, p);
    }

    return X;
}

std::vector<torch::Tensor> act4_backward(int group_index, torch::Tensor grad, torch::Tensor X, torch::Tensor p) {
    CHECK_CONTIGUOUS(X);
    CHECK_CONTIGUOUS(p);
    CHECK_CONTIGUOUS(grad);

    if (X.device().type() == torch::DeviceType::CPU) {
        return act4_backward_cpu(group_index, grad, X, p);

    } else if (X.device().type() == torch::DeviceType::CUDA) {
        return act4_backward_gpu(group_index, grad, X, p);
    }

    return {};
}


torch::Tensor projector(int group_index, torch::Tensor X) {
    CHECK_CONTIGUOUS(X);
    
    if (X.device().type() == torch::DeviceType::CPU) {
        return orthogonal_projector_cpu(group_index, X);

    } else if (X.device().type() == torch::DeviceType::CUDA) {
        return orthogonal_projector_gpu(group_index, X);
    }

    return X;
}


torch::Tensor as_matrix(int group_index, torch::Tensor X) {
    CHECK_CONTIGUOUS(X);
    
    if (X.device().type() == torch::DeviceType::CPU) {
        return as_matrix_forward_cpu(group_index, X);

    } else if (X.device().type() == torch::DeviceType::CUDA) {
        return as_matrix_forward_gpu(group_index, X);
    }

    return X;
}

torch::Tensor Jinv(int group_index, torch::Tensor X, torch::Tensor a) {
    CHECK_CONTIGUOUS(X);
    CHECK_CONTIGUOUS(a);

    if (X.device().type() == torch::DeviceType::CPU) {
        return jleft_forward_cpu(group_index, X, a);

    } else if (X.device().type() == torch::DeviceType::CUDA) {
        return jleft_forward_gpu(group_index, X, a);
    }

    return a;
}

// {exp, log, inv, mul, adj, adjT, act, act4} forward/backward bindings
PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {
  m.def("expm", &expm, "exp map forward");
  m.def("expm_backward", &expm_backward, "exp map backward");

  m.def("logm", &logm, "log map forward");
  m.def("logm_backward", &logm_backward, "log map backward");

  m.def("inv", &inv, "inverse operator");
  m.def("inv_backward", &inv_backward, "inverse operator backward");

  m.def("mul", &mul, "group operator");
  m.def("mul_backward", &mul_backward, "group operator backward");

  m.def("adj", &adj, "adjoint operator");
  m.def("adj_backward", &adj_backward, "adjoint operator backward");

  m.def("adjT", &adjT, "transposed adjoint operator");
  m.def("adjT_backward", &adjT_backward, "transposed adjoint operator backward");

  m.def("act", &act, "action on point");
  m.def("act_backward", &act_backward, "action on point backward");

  m.def("act4", &act4, "action on homogeneous point");
  m.def("act4_backward", &act4_backward, "action on homogeneous point backward");

  // functions with no gradient
  m.def("as_matrix", &as_matrix, "convert to matrix");
  m.def("projector", &projector, "orthogonal projection matrix");
  m.def("Jinv", &Jinv, "left inverse jacobian operator");

};