// ---------------------------------------------------------------------------- // - Open3D: www.open3d.org - // ---------------------------------------------------------------------------- // Copyright (c) 2018-2023 www.open3d.org // SPDX-License-Identifier: MIT // ---------------------------------------------------------------------------- #pragma once #include "open3d/ml/impl/continuous_conv/ContinuousConvTypes.h" #include "tensorflow/core/framework/op.h" #include "tensorflow/core/framework/op_kernel.h" #include "tensorflow/core/lib/core/errors.h" template class ContinuousConvOpKernel : public tensorflow::OpKernel { public: explicit ContinuousConvOpKernel( tensorflow::OpKernelConstruction* construction) : OpKernel(construction) { using namespace tensorflow; using namespace open3d::ml::impl; OP_REQUIRES_OK(construction, construction->GetAttr("align_corners", &align_corners)); OP_REQUIRES_OK(construction, construction->GetAttr("normalize", &normalize)); std::string interpolation_str; OP_REQUIRES_OK(construction, construction->GetAttr("interpolation", &interpolation_str)); if (interpolation_str == "linear") interpolation = InterpolationMode::LINEAR; else if (interpolation_str == "linear_border") interpolation = InterpolationMode::LINEAR_BORDER; else interpolation = InterpolationMode::NEAREST_NEIGHBOR; std::string mapping_str; OP_REQUIRES_OK(construction, construction->GetAttr("coordinate_mapping", &mapping_str)); if (mapping_str == "ball_to_cube_radial") coordinate_mapping = CoordinateMapping::BALL_TO_CUBE_RADIAL; else if (mapping_str == "ball_to_cube_volume_preserving") coordinate_mapping = CoordinateMapping::BALL_TO_CUBE_VOLUME_PRESERVING; else coordinate_mapping = CoordinateMapping::IDENTITY; OP_REQUIRES_OK(construction, construction->GetAttr("max_temp_mem_MB", &max_temp_mem_MB)); } void Compute(tensorflow::OpKernelContext* context) override { using namespace tensorflow; static_assert(sizeof(int64) == sizeof(int64_t), "int64 type is not compatible"); const Tensor& filter = context->input(0); const Tensor& out_positions = context->input(1); OP_REQUIRES(context, out_positions.shape().dim_size(0) <= std::numeric_limits::max(), errors::InvalidArgument("Too many output points")); const Tensor& extents = context->input(2); OP_REQUIRES(context, extents.shape().dims() == 2, errors::InvalidArgument("extents must be a rank 2 tensor")); OP_REQUIRES(context, extents.shape().dim_size(0) == out_positions.shape().dim_size(0) || extents.shape().dim_size(0) == 1, errors::InvalidArgument("number of extents must match the " "number of out_positions or must " "be 1")); OP_REQUIRES(context, extents.shape().dim_size(1) == 3 || extents.shape().dim_size(1) == 1, errors::InvalidArgument( "number of components for extents must be 3 or 1")); const Tensor& offset = context->input(3); OP_REQUIRES(context, offset.shape().dims() == 1, errors::InvalidArgument("offset must be a rank 1 tensor")); OP_REQUIRES(context, offset.shape().dim_size(0) == 3, errors::InvalidArgument("offset length must be 3")); const Tensor& inp_positions = context->input(4); OP_REQUIRES(context, inp_positions.shape().dim_size(0) <= std::numeric_limits::max(), errors::InvalidArgument("Too many input points")); const Tensor& inp_features = context->input(5); const Tensor& inp_importance = context->input(6); const Tensor& neighbors_index = context->input(7); const Tensor& neighbors_importance = context->input(8); const Tensor& neighbors_row_splits = context->input(9); OP_REQUIRES( context, inp_positions.shape().dim_size(0) == inp_features.shape().dim_size(0), errors::InvalidArgument("first dim of inp_positions does not " "match the first dim of inp_features")); OP_REQUIRES(context, inp_positions.shape().dim_size(0) == inp_importance.shape().dim_size(0) || inp_importance.shape().dim_size(0) == 0, errors::InvalidArgument("first dim of inp_positions does " "not match the first dim of " "inp_importance")); OP_REQUIRES(context, neighbors_importance.shape().dim_size(0) == neighbors_index.shape().dim_size(0) || neighbors_importance.shape().dim_size(0) == 0, errors::InvalidArgument("first dim of neighbors_importance " "does not match the first dim of " "neighbors_index")); OP_REQUIRES( context, filter.shape().dim_size(3) == inp_features.shape().dim_size(1), errors::InvalidArgument("number of input channels in filter " "and inp_features does not match")); TensorShape out_features_shape({out_positions.shape().dim_size(0), filter.shape().dim_size(4)}); Tensor* out_features = nullptr; OP_REQUIRES_OK(context, context->allocate_output(0, out_features_shape, &out_features)); std::vector filter_dims({ int(filter.shape().dim_size(0)), int(filter.shape().dim_size(1)), int(filter.shape().dim_size(2)), int(filter.shape().dim_size(3)), int(filter.shape().dim_size(4)), }); bool individual_extents = extents.shape().dim_size(0) == out_positions.shape().dim_size(0) && extents.shape().dim_size(0) > 1; bool isotropic_extents = extents.shape().dim_size(1) == 1; bool point_importances = inp_importance.shape().dim_size(0) != 0; bool has_neighbors_importances = neighbors_importance.shape().dim_size(0) != 0; Kernel(context, filter, out_positions, extents, offset, inp_positions, inp_features, inp_importance, neighbors_index, neighbors_importance, neighbors_row_splits, filter_dims, individual_extents, isotropic_extents, point_importances, has_neighbors_importances, *out_features); } 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& filter_dims, const bool individual_extents, const bool isotropic_extents, const bool point_importances, const bool has_neighbors_importances, tensorflow::Tensor& out_features) = 0; public: bool align_corners; bool normalize; open3d::ml::impl::InterpolationMode interpolation; open3d::ml::impl::CoordinateMapping coordinate_mapping; int max_temp_mem_MB; };