Open3D (C++ API)  0.17.0
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ContinuousConvBackpropFilterOpKernel.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
11#include "tensorflow/core/framework/op.h"
12#include "tensorflow/core/framework/op_kernel.h"
13#include "tensorflow/core/lib/core/errors.h"
14
15template <class TIndex>
16class ContinuousConvBackpropFilterOpKernel : public tensorflow::OpKernel {
17public:
19 tensorflow::OpKernelConstruction* construction)
20 : OpKernel(construction) {
21 using namespace tensorflow;
22 using namespace open3d::ml::impl;
23 OP_REQUIRES_OK(construction,
24 construction->GetAttr("align_corners", &align_corners));
25 OP_REQUIRES_OK(construction,
26 construction->GetAttr("normalize", &normalize));
27
28 std::string interpolation_str;
29 OP_REQUIRES_OK(construction, construction->GetAttr("interpolation",
30 &interpolation_str));
31
32 if (interpolation_str == "linear")
33 interpolation = InterpolationMode::LINEAR;
34 else if (interpolation_str == "linear_border")
35 interpolation = InterpolationMode::LINEAR_BORDER;
36 else
37 interpolation = InterpolationMode::NEAREST_NEIGHBOR;
38
39 std::string mapping_str;
40 OP_REQUIRES_OK(construction, construction->GetAttr("coordinate_mapping",
41 &mapping_str));
42
43 if (mapping_str == "ball_to_cube_radial")
44 coordinate_mapping = CoordinateMapping::BALL_TO_CUBE_RADIAL;
45 else if (mapping_str == "ball_to_cube_volume_preserving")
47 CoordinateMapping::BALL_TO_CUBE_VOLUME_PRESERVING;
48 else
49 coordinate_mapping = CoordinateMapping::IDENTITY;
50
51 OP_REQUIRES_OK(construction, construction->GetAttr("max_temp_mem_MB",
53 }
54
55 void Compute(tensorflow::OpKernelContext* context) override {
56 using namespace tensorflow;
57 static_assert(sizeof(int64) == sizeof(int64_t),
58 "int64 type is not compatible");
59 const Tensor& filter = context->input(0);
60
61 const Tensor& out_positions = context->input(1);
62 OP_REQUIRES(context,
63 out_positions.shape().dim_size(0) <=
64 std::numeric_limits<TIndex>::max(),
65 errors::InvalidArgument("Too many output points"));
66
67 const Tensor& extents = context->input(2);
68 OP_REQUIRES(context, extents.shape().dims() == 2,
69 errors::InvalidArgument("extents must be a rank 2 tensor"));
70 OP_REQUIRES(context,
71 extents.shape().dim_size(0) ==
72 out_positions.shape().dim_size(0) ||
73 extents.shape().dim_size(0) == 1,
74 errors::InvalidArgument("number of extents must match the "
75 "number of out_positions or must "
76 "be 1"));
77 OP_REQUIRES(context,
78 extents.shape().dim_size(1) == 3 ||
79 extents.shape().dim_size(1) == 1,
80 errors::InvalidArgument(
81 "number of components for extents must be 3 or 1"));
82
83 const Tensor& offset = context->input(3);
84 OP_REQUIRES(context, offset.shape().dims() == 1,
85 errors::InvalidArgument("offset must be a rank 1 tensor"));
86 OP_REQUIRES(context, offset.shape().dim_size(0) == 3,
87 errors::InvalidArgument("offset length must be 3"));
88
89 const Tensor& inp_positions = context->input(4);
90 OP_REQUIRES(context,
91 inp_positions.shape().dim_size(0) <=
92 std::numeric_limits<TIndex>::max(),
93 errors::InvalidArgument("Too many input points"));
94
95 const Tensor& inp_features = context->input(5);
96
97 const Tensor& inp_importance = context->input(6);
98
99 const Tensor& neighbors_index = context->input(7);
100
101 const Tensor& neighbors_importance = context->input(8);
102
103 const Tensor& neighbors_row_splits = context->input(9);
104
105 const Tensor& out_features_gradient = context->input(10);
106
107 OP_REQUIRES(
108 context,
109 inp_positions.shape().dim_size(0) ==
110 inp_features.shape().dim_size(0),
111 errors::InvalidArgument("first dim of inp_positions does not "
112 "match the first dim of inp_features"));
113
114 OP_REQUIRES(context,
115 inp_positions.shape().dim_size(0) ==
116 inp_importance.shape().dim_size(0) ||
117 inp_importance.shape().dim_size(0) == 0,
118 errors::InvalidArgument("first dim of inp_positions does "
119 "not match the first dim of "
120 "inp_importance"));
121
122 OP_REQUIRES(context,
123 neighbors_importance.shape().dim_size(0) ==
124 neighbors_index.shape().dim_size(0) ||
125 neighbors_importance.shape().dim_size(0) == 0,
126 errors::InvalidArgument("first dim of neighbors_importance "
127 "does not match the first dim of "
128 "neighbors_index"));
129
130 OP_REQUIRES(
131 context,
132 filter.shape().dim_size(3) == inp_features.shape().dim_size(1),
133 errors::InvalidArgument("number of input channels in filter "
134 "and inp_features does not match"));
135
136 OP_REQUIRES(context,
137 out_features_gradient.shape().dim_size(0) ==
138 out_positions.shape().dim_size(0),
139 errors::InvalidArgument("first dim of out_positions, does "
140 "not match the first dim of "
141 "out_features_gradient"));
142
143 TensorShape filter_backprop_shape(filter.shape());
144 Tensor* filter_backprop = nullptr;
145 OP_REQUIRES_OK(context,
146 context->allocate_output(0, filter_backprop_shape,
147 &filter_backprop));
148
149 std::vector<int> filter_dims({
150 int(filter.shape().dim_size(0)),
151 int(filter.shape().dim_size(1)),
152 int(filter.shape().dim_size(2)),
153 int(filter.shape().dim_size(3)),
154 int(filter.shape().dim_size(4)),
155 });
156
157 bool individual_extents = extents.shape().dim_size(0) ==
158 out_positions.shape().dim_size(0) &&
159 extents.shape().dim_size(0) > 1;
160
161 bool isotropic_extents = extents.shape().dim_size(1) == 1;
162
163 bool point_importances = inp_importance.shape().dim_size(0) != 0;
164
165 bool has_neighbors_importances =
166 neighbors_importance.shape().dim_size(0) != 0;
167
168 Kernel(context, filter, out_positions, extents, offset, inp_positions,
169 inp_features, inp_importance, neighbors_index,
170 neighbors_importance, neighbors_row_splits,
171 out_features_gradient, filter_dims, individual_extents,
172 isotropic_extents, point_importances, has_neighbors_importances,
173 *filter_backprop);
174 }
175
176 virtual void Kernel(tensorflow::OpKernelContext* context,
177 const tensorflow::Tensor& filter,
178 const tensorflow::Tensor& out_positions,
179 const tensorflow::Tensor& extents,
180 const tensorflow::Tensor& offset,
181 const tensorflow::Tensor& inp_positions,
182 const tensorflow::Tensor& inp_features,
183 const tensorflow::Tensor& inp_importance,
184 const tensorflow::Tensor& neighbors_index,
185 const tensorflow::Tensor& neighbors_importance,
186 const tensorflow::Tensor& neighbors_row_splits,
187 const tensorflow::Tensor& out_features_gradient,
188 const std::vector<int>& filter_dims,
189 const bool individual_extents,
190 const bool isotropic_extents,
191 const bool point_importances,
192 const bool has_neighbors_importances,
193 tensorflow::Tensor& filter_backprop) = 0;
194
195public:
201};
ImGuiContext * context
Definition Window.cpp:76
Definition ContinuousConvBackpropFilterOpKernel.h:16
bool align_corners
Definition ContinuousConvBackpropFilterOpKernel.h:196
int max_temp_mem_MB
Definition ContinuousConvBackpropFilterOpKernel.h:200
open3d::ml::impl::CoordinateMapping coordinate_mapping
Definition ContinuousConvBackpropFilterOpKernel.h:199
ContinuousConvBackpropFilterOpKernel(tensorflow::OpKernelConstruction *construction)
Definition ContinuousConvBackpropFilterOpKernel.h:18
bool normalize
Definition ContinuousConvBackpropFilterOpKernel.h:197
void Compute(tensorflow::OpKernelContext *context) override
Definition ContinuousConvBackpropFilterOpKernel.h:55
open3d::ml::impl::InterpolationMode interpolation
Definition ContinuousConvBackpropFilterOpKernel.h:198
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 tensorflow::Tensor &out_features_gradient, 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 &filter_backprop)=0
int offset
Definition FilePCD.cpp:45
Definition ContinuousConv.h:16
InterpolationMode
Definition ContinuousConvTypes.h:18
CoordinateMapping
Definition ContinuousConvTypes.h:26