Can't find the definition of hard_voxelize

[YutongLin-sjtu]

Hi! Thanks for the excellent work.
While I train my own custom data using maptrv2(Lidar+Camera) model, I met the error in voxelize.py:
Traceback (most recent call last): File "./tools/train.py", line 262, in <module> main() File "./tools/train.py", line 251, in main custom_train_model( File "/home/ubuntu/Downloads/Maptr_Fish-main/maptr/projects/mmdet3d_plugin/bevformer/apis/train.py", line 27, in custom_train_model custom_train_detector( File "/home/ubuntu/Downloads/Maptr_Fish-main/maptr/projects/mmdet3d_plugin/bevformer/apis/mmdet_train.py", line 200, in custom_train_detector runner.run(data_loaders, cfg.workflow) File "/home/ubuntu/anaconda3/envs/maptr/lib/python3.8/site-packages/mmcv/runner/epoch_based_runner.py", line 127, in run epoch_runner(data_loaders[i], **kwargs) File "/home/ubuntu/anaconda3/envs/maptr/lib/python3.8/site-packages/mmcv/runner/epoch_based_runner.py", line 50, in train self.run_iter(data_batch, train_mode=True, **kwargs) File "/home/ubuntu/anaconda3/envs/maptr/lib/python3.8/site-packages/mmcv/runner/epoch_based_runner.py", line 29, in run_iter outputs = self.model.train_step(data_batch, self.optimizer, File "/home/ubuntu/anaconda3/envs/maptr/lib/python3.8/site-packages/mmcv/parallel/distributed.py", line 52, in train_step output = self.module.train_step(*inputs[0], **kwargs[0]) File "/home/ubuntu/anaconda3/envs/maptr/lib/python3.8/site-packages/mmdet/models/detectors/base.py", line 237, in train_step losses = self(**data) File "/home/ubuntu/anaconda3/envs/maptr/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1051, in _call_impl return forward_call(*input, **kwargs) File "/home/ubuntu/Downloads/Maptr_Fish-main/maptr/projects/mmdet3d_plugin/maptr/detectors/maptrv2.py", line 198, in forward return self.forward_train(**kwargs) File "/home/ubuntu/anaconda3/envs/maptr/lib/python3.8/site-packages/mmcv/runner/fp16_utils.py", line 214, in new_func output = old_func(*new_args, **new_kwargs) File "/home/ubuntu/Downloads/Maptr_Fish-main/maptr/projects/mmdet3d_plugin/maptr/detectors/maptrv2.py", line 304, in forward_train lidar_feat = self.extract_lidar_feat(points) File "/home/ubuntu/anaconda3/envs/maptr/lib/python3.8/site-packages/mmcv/runner/fp16_utils.py", line 128, in new_func output = old_func(*new_args, **new_kwargs) File "/home/ubuntu/Downloads/Maptr_Fish-main/maptr/projects/mmdet3d_plugin/maptr/detectors/maptrv2.py", line 254, in extract_lidar_feat feats, coords, sizes = self.voxelize(points) File "/home/ubuntu/anaconda3/envs/maptr/lib/python3.8/site-packages/torch/autograd/grad_mode.py", line 28, in decorate_context return func(*args, **kwargs) File "/home/ubuntu/anaconda3/envs/maptr/lib/python3.8/site-packages/mmcv/runner/fp16_utils.py", line 214, in new_func output = old_func(*new_args, **new_kwargs) File "/home/ubuntu/Downloads/Maptr_Fish-main/maptr/projects/mmdet3d_plugin/maptr/detectors/maptrv2.py", line 227, in voxelize ret = self.lidar_modal_extractor["voxelize"](res) File "/home/ubuntu/anaconda3/envs/maptr/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1051, in _call_impl return forward_call(*input, **kwargs) File "/home/ubuntu/Downloads/MapTR/mmdetection3d/mmdet3d/ops/voxel/voxelize.py", line 144, in forward return voxelization( File "/home/ubuntu/Downloads/MapTR/mmdetection3d/mmdet3d/ops/voxel/voxelize.py", line 68, in forward voxel_num = hard_voxelize( RuntimeError: CUDA error: invalid configuration argument CUDA kernel errors might be asynchronously reported at some other API call,so the stacktrace below might be incorrect. For debugging consider passing CUDA_LAUNCH_BLOCKING=1.
And i can't find the definition of hard_voxelize that imported as below in voxelize.py:
from .voxel_layer import dynamic_voxelize, hard_voxelize
Can anyone help?