API List

Driving SDK provides the following APIs. In the table, rows without a check mark (✓) in the Released column have restricted usage and apply only to the models in this repository. Operators whose names are marked beta are initial releases and have not undergone version testing.

API Type	API Name	Released	Atlas A2 training products	Atlas A3 training products	Ascend 950 products
General	hypot		✓	✓	✓
	scatter_max		✓	✓	✓
	three_interpolate		✓	✓
	knn		✓	✓	✓
	three_nn		✓	✓	✓
	scatter_mean	✓	✓	✓	✓
	assign_score_withk	✓	✓	✓	✓
	furthest_point_sampling		✓	✓	✓
	furthest_point_sample_with_dist		✓	✓	✓
	group_points		✓	✓	✓
	unique_voxel	✓	✓	✓	✓
	scatter_add	✓	✓	✓	✓
	radius		✓	✓	✓
	npu_unique[beta]		✓	✓
	graph_softmax		✓	✓	✓
	sigmoid_focal_loss				✓
	npu_fake_tensor_quant[beta]		✓	✓
	npu_fake_tensor_quant_inplace[beta]		✓	✓
	npu_fake_tensor_quant_with_axis[beta]		✓	✓
Sampling	roipoint_pool3d	✓	✓	✓	✓
	roiaware_pool3d		✓	✓	✓
	npu_voxel_pooling_train		✓	✓	✓
	bev_pool_v1		✓	✓	✓
	bev_pool_v2		✓	✓	✓
	bev_pool_v3		✓	✓	✓
	roi_align_rotated		✓	✓	✓
	border_align		✓	✓	✓
	pixel_group		✓	✓	✓
	grid_sampler2d_v2		✓	✓	✓
	grid_sampler3d_v1		✓	✓	✓
	npu_index_select[beta]		✓	✓
Voxelization	voxelization		✓	✓	✓
	dynamic_scatter		✓	✓	✓
Detection	boxes_overlap_bev	✓	✓	✓	✓
	box_iou_quadri		✓	✓	✓
	box_iou_rotated[beta]		✓	✓	✓
	boxes_iou_bev	✓	✓	✓	✓
	nms3d		✓	✓	✓
	nms3d_normal		✓	✓	✓
	nms3d_on_sight	✓	✓	✓	✓
	npu_rotated_iou[beta]		✓	✓
	points_in_boxes_all		✓	✓	✓
	points_in_box		✓	✓	✓
	diff_iou_rotated_2d	✓	✓	✓	✓
	nms_rotated_dist[beta]		✓	✓
Sparse	SparseConv3d		✓	✓	✓
	SubMConv3d		✓	✓	✓
	SparseInverseConv3d		✓	✓	✓
Fusion	multi_scale_deformable_attn		✓	✓	✓
	deformable_aggregation		✓	✓	✓
	deform_conv2d		✓	✓
	modulated_deform_conv2d		✓	✓
	npu_add_relu	✓	✓	✓	✓
	npu_max_pool2d	✓	✓	✓	✓
	geometric_kernel_attention		✓	✓	✓
	npu_gaussian		✓	✓	✓
	npu_draw_gaussian_to_heatmap[beta]		✓	✓	✓
	npu_assign_target_of_single_head		✓	✓	✓
	npu_fused_bias_leaky_relu	✓	✓	✓	✓
	npu_batch_matmul		✓	✓	✓
	cartesian_to_frenet		✓	✓	✓
	cal_anchors_heading		✓	✓	✓