Python numpy function --> PyTorch CUDA conversion

[ghimiredhikura]

In this project there are mainly three stages.
1. Preprocessing
read PC data and convert to BEV image
2. CNN
pass bev image through yolov3 network
3. Postprocessing
decode yolo output, draw and display results.

The BEV conversion script is implemented using python numpy functions, to make it super real time we have to change this function into PyTorch CUDA. It will be great if anyone can do it.

Thanks.

[sidml]

I was trying to convert it to GPU but i came across the following issue..

1. No return_counts in torch.unique. There are some hacky ways to solve this but it degrades the performance.
   https://github.com/pytorch/pytorch/issues/12598
2. No lexsort function in pytorch.

I though of using cupy which seems to be a one line replacement for numpy, but it didn't work..
The main issue is the cupy.unique doesn't support axis yet.. https://docs-cupy.chainer.org/en/stable/reference/generated/cupy.unique.html

[ghimiredhikura]

Thanks for your efforts. Yes the functions you mentioned are not implemented in pytorch cuda. I think they need to be implemented ourself.

[chrishacc]

我试图将其转换为GPU，但我遇到了以下问题..

1. torch.unique 中没有 return_counts。有一些 hacky 方法可以解决这个问题，但它会降低性能。 https://github.com/pytorch/pytorch/issues/12598
2. pytorch 中没有 lexsort 函数。

我虽然使用过cupy，这似乎是numpy的单行替代品，但它并没有用..主要问题是cupy.unique还不支持轴..https://docs-cupy.chainer.org/en/stable/reference/generated/cupy.unique.html

请问您现在成功将该函数改成PyTorch CUDA实现了嘛