Open3D (C++ API)  0.16.0
ContinuousConvOpKernel.h
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26
27#pragma once
28
30#include "tensorflow/core/framework/op.h"
31#include "tensorflow/core/framework/op_kernel.h"
32#include "tensorflow/core/lib/core/errors.h"
33
34template <class TIndex>
35class ContinuousConvOpKernel : public tensorflow::OpKernel {
36public:
38 tensorflow::OpKernelConstruction* construction)
39 : OpKernel(construction) {
40 using namespace tensorflow;
41 using namespace open3d::ml::impl;
42 OP_REQUIRES_OK(construction,
43 construction->GetAttr("align_corners", &align_corners));
44 OP_REQUIRES_OK(construction,
45 construction->GetAttr("normalize", &normalize));
46
47 std::string interpolation_str;
48 OP_REQUIRES_OK(construction, construction->GetAttr("interpolation",
49 &interpolation_str));
50
51 if (interpolation_str == "linear")
52 interpolation = InterpolationMode::LINEAR;
53 else if (interpolation_str == "linear_border")
54 interpolation = InterpolationMode::LINEAR_BORDER;
55 else
57
58 std::string mapping_str;
59 OP_REQUIRES_OK(construction, construction->GetAttr("coordinate_mapping",
60 &mapping_str));
61
62 if (mapping_str == "ball_to_cube_radial")
63 coordinate_mapping = CoordinateMapping::BALL_TO_CUBE_RADIAL;
64 else if (mapping_str == "ball_to_cube_volume_preserving")
66 CoordinateMapping::BALL_TO_CUBE_VOLUME_PRESERVING;
67 else
68 coordinate_mapping = CoordinateMapping::IDENTITY;
69
70 OP_REQUIRES_OK(construction, construction->GetAttr("max_temp_mem_MB",
72 }
73
74 void Compute(tensorflow::OpKernelContext* context) override {
75 using namespace tensorflow;
76 static_assert(sizeof(int64) == sizeof(int64_t),
77 "int64 type is not compatible");
78 const Tensor& filter = context->input(0);
79
80 const Tensor& out_positions = context->input(1);
81 OP_REQUIRES(context,
82 out_positions.shape().dim_size(0) <=
83 std::numeric_limits<TIndex>::max(),
84 errors::InvalidArgument("Too many output points"));
85
86 const Tensor& extents = context->input(2);
87 OP_REQUIRES(context, extents.shape().dims() == 2,
88 errors::InvalidArgument("extents must be a rank 2 tensor"));
89 OP_REQUIRES(context,
90 extents.shape().dim_size(0) ==
91 out_positions.shape().dim_size(0) ||
92 extents.shape().dim_size(0) == 1,
93 errors::InvalidArgument("number of extents must match the "
94 "number of out_positions or must "
95 "be 1"));
96 OP_REQUIRES(context,
97 extents.shape().dim_size(1) == 3 ||
98 extents.shape().dim_size(1) == 1,
99 errors::InvalidArgument(
100 "number of components for extents must be 3 or 1"));
101
102 const Tensor& offset = context->input(3);
103 OP_REQUIRES(context, offset.shape().dims() == 1,
104 errors::InvalidArgument("offset must be a rank 1 tensor"));
105 OP_REQUIRES(context, offset.shape().dim_size(0) == 3,
106 errors::InvalidArgument("offset length must be 3"));
107
108 const Tensor& inp_positions = context->input(4);
109 OP_REQUIRES(context,
110 inp_positions.shape().dim_size(0) <=
111 std::numeric_limits<TIndex>::max(),
112 errors::InvalidArgument("Too many input points"));
113
114 const Tensor& inp_features = context->input(5);
115
116 const Tensor& inp_importance = context->input(6);
117
118 const Tensor& neighbors_index = context->input(7);
119
120 const Tensor& neighbors_importance = context->input(8);
121
122 const Tensor& neighbors_row_splits = context->input(9);
123
124 OP_REQUIRES(
125 context,
126 inp_positions.shape().dim_size(0) ==
127 inp_features.shape().dim_size(0),
128 errors::InvalidArgument("first dim of inp_positions does not "
129 "match the first dim of inp_features"));
130
131 OP_REQUIRES(context,
132 inp_positions.shape().dim_size(0) ==
133 inp_importance.shape().dim_size(0) ||
134 inp_importance.shape().dim_size(0) == 0,
135 errors::InvalidArgument("first dim of inp_positions does "
136 "not match the first dim of "
137 "inp_importance"));
138
139 OP_REQUIRES(context,
140 neighbors_importance.shape().dim_size(0) ==
141 neighbors_index.shape().dim_size(0) ||
142 neighbors_importance.shape().dim_size(0) == 0,
143 errors::InvalidArgument("first dim of neighbors_importance "
144 "does not match the first dim of "
145 "neighbors_index"));
146
147 OP_REQUIRES(
148 context,
149 filter.shape().dim_size(3) == inp_features.shape().dim_size(1),
150 errors::InvalidArgument("number of input channels in filter "
151 "and inp_features does not match"));
152
153 TensorShape out_features_shape({out_positions.shape().dim_size(0),
154 filter.shape().dim_size(4)});
155 Tensor* out_features = nullptr;
156 OP_REQUIRES_OK(context, context->allocate_output(0, out_features_shape,
157 &out_features));
158
159 std::vector<int> filter_dims({
160 int(filter.shape().dim_size(0)),
161 int(filter.shape().dim_size(1)),
162 int(filter.shape().dim_size(2)),
163 int(filter.shape().dim_size(3)),
164 int(filter.shape().dim_size(4)),
165 });
166
167 bool individual_extents = extents.shape().dim_size(0) ==
168 out_positions.shape().dim_size(0) &&
169 extents.shape().dim_size(0) > 1;
170
171 bool isotropic_extents = extents.shape().dim_size(1) == 1;
172
173 bool point_importances = inp_importance.shape().dim_size(0) != 0;
174
175 bool has_neighbors_importances =
176 neighbors_importance.shape().dim_size(0) != 0;
177
178 Kernel(context, filter, out_positions, extents, offset, inp_positions,
179 inp_features, inp_importance, neighbors_index,
180 neighbors_importance, neighbors_row_splits, filter_dims,
181 individual_extents, isotropic_extents, point_importances,
182 has_neighbors_importances, *out_features);
183 }
184
185 virtual void Kernel(tensorflow::OpKernelContext* context,
186 const tensorflow::Tensor& filter,
187 const tensorflow::Tensor& out_positions,
188 const tensorflow::Tensor& extents,
189 const tensorflow::Tensor& offset,
190 const tensorflow::Tensor& inp_positions,
191 const tensorflow::Tensor& inp_features,
192 const tensorflow::Tensor& inp_importance,
193 const tensorflow::Tensor& neighbors_index,
194 const tensorflow::Tensor& neighbors_importance,
195 const tensorflow::Tensor& neighbors_row_splits,
196 const std::vector<int>& filter_dims,
197 const bool individual_extents,
198 const bool isotropic_extents,
199 const bool point_importances,
200 const bool has_neighbors_importances,
201 tensorflow::Tensor& out_features) = 0;
202
203public:
209};
ImGuiContext * context
Definition: Window.cpp:95
Definition: ContinuousConvOpKernel.h:35
bool normalize
Definition: ContinuousConvOpKernel.h:205
open3d::ml::impl::InterpolationMode interpolation
Definition: ContinuousConvOpKernel.h:206
void Compute(tensorflow::OpKernelContext *context) override
Definition: ContinuousConvOpKernel.h:74
bool align_corners
Definition: ContinuousConvOpKernel.h:204
virtual void Kernel(tensorflow::OpKernelContext *context, const tensorflow::Tensor &filter, const tensorflow::Tensor &out_positions, const tensorflow::Tensor &extents, const tensorflow::Tensor &offset, const tensorflow::Tensor &inp_positions, const tensorflow::Tensor &inp_features, const tensorflow::Tensor &inp_importance, const tensorflow::Tensor &neighbors_index, const tensorflow::Tensor &neighbors_importance, const tensorflow::Tensor &neighbors_row_splits, const std::vector< int > &filter_dims, const bool individual_extents, const bool isotropic_extents, const bool point_importances, const bool has_neighbors_importances, tensorflow::Tensor &out_features)=0
ContinuousConvOpKernel(tensorflow::OpKernelConstruction *construction)
Definition: ContinuousConvOpKernel.h:37
int max_temp_mem_MB
Definition: ContinuousConvOpKernel.h:208
open3d::ml::impl::CoordinateMapping coordinate_mapping
Definition: ContinuousConvOpKernel.h:207
int offset
Definition: FilePCD.cpp:64
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t timeout_in_ms capture_handle capture_handle capture_handle image_handle temperature_c int
Definition: K4aPlugin.cpp:493
Definition: ContinuousConv.h:35
InterpolationMode
Definition: ContinuousConvTypes.h:37
@ NEAREST_NEIGHBOR
Definition: VoxelPooling.h:40
CoordinateMapping
Definition: ContinuousConvTypes.h:45