API 清单

Driving SDK 提供下列高性能算子，列表中Released标注为N代表使用场景受限，仅针对本仓库的模型，标注为beta的算子为初版，未经过版本测试。

api类型	api名称	Released
通用	hypot	N
	scatter_max	N
	three_interpolate	N
	knn	N
	three_nn	N
	scatter_mean	Y
	assign_score_withk	Y
	furthest_point_sampling	N
	furthest_point_sample_with_dist	N
	group_points	N
	unique_voxel	Y
	scatter_add	Y
	radius	N
	npu_unique[beta]	N
	graph_softmax	N
	sigmoid_focal_loss	N
采样	roipoint_pool3d	Y
	roiaware_pool3d	N
	npu_voxel_pooling_train	N
	bev_pool_v1	N
	bev_pool_v2	N
	bev_pool_v3	N
	roi_align_rotated	N
	border_align	N
	pixel_group	N
	grid_sampler2d_v2	N
	grid_sampler3d_v1	N
	npu_index_select[beta]	N
体素化	voxelization	N
	dynamic_scatter	N
检测	boxes_overlap_bev	Y
	box_iou_quadri	N
	box_iou_rotated[beta]	N
	boxes_iou_bev	Y
	nms3d	N
	nms3d_normal	N
	nms3d_on_sight	Y
	npu_rotated_iou[beta]	N
	points_in_boxes_all	N
	points_in_box	N
	diff_iou_rotated_2d	Y
	min_area_polygons[beta]	N
稀疏	SparseConv3d	N
	SubMConv3d	N
	SparseInverseConv3d	N
融合	multi_scale_deformable_attn	N
	deformable_aggregation	N
	deform_conv2d	N
	modulated_deform_conv2d	N
	npu_add_relu	Y
	npu_max_pool2d	Y
	geometric_kernel_attention	N
	npu_gaussian	N
	npu_draw_gaussian_to_heatmap[beta]	N
	npu_assign_target_of_single_head	N
	npu_fused_bias_leaky_relu	Y
	npu_batch_matmul	N
	cartesian_to_frenet	N
	cal_anchors_heading	N