Open3D (C++ API)  0.15.1
SparseConvBackpropFilterOpKernel.h
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26 
27 #pragma once
28 
29 #include <tensorflow/core/framework/op.h>
30 #include <tensorflow/core/framework/op_kernel.h>
31 #include <tensorflow/core/lib/core/errors.h>
32 
34 
35 template <class TIndex>
36 class SparseConvBackpropFilterOpKernel : public tensorflow::OpKernel {
37 public:
39  tensorflow::OpKernelConstruction* construction)
40  : OpKernel(construction) {
41  using namespace tensorflow;
42  OP_REQUIRES_OK(construction,
43  construction->GetAttr("normalize", &normalize));
44 
45  OP_REQUIRES_OK(construction, construction->GetAttr("max_temp_mem_MB",
46  &max_temp_mem_MB));
47  }
48 
49  void Compute(tensorflow::OpKernelContext* context) override {
50  using namespace tensorflow;
51  using namespace open3d::ml::op_util;
52  static_assert(sizeof(int64) == sizeof(int64_t),
53  "int64 type is not compatible");
54  const Tensor& filters = context->input(0);
55  const Tensor& inp_features = context->input(1);
56  const Tensor& inp_importance = context->input(2);
57  const Tensor& neighbors_index = context->input(3);
58  const Tensor& neighbors_kernel_index = context->input(4);
59  const Tensor& neighbors_importance = context->input(5);
60  const Tensor& neighbors_row_splits = context->input(6);
61  const Tensor& out_features_gradient = context->input(7);
62 
63  Dim num_out("num_out");
64  Dim num_inp("num_inp");
65  Dim num_kernel_elements("num_kernel_elements");
66  Dim in_channels("in_channels");
67  Dim out_channels("out_channels");
68  Dim num_neighbors("num_neighbors");
69 
70  CHECK_SHAPE_COMBINE_FIRST_DIMS(context, filters, num_kernel_elements,
71  in_channels, out_channels);
72  CHECK_SHAPE(context, neighbors_row_splits, num_out + 1);
73  CHECK_SHAPE(context, inp_features, num_inp, in_channels);
74  CHECK_SHAPE(context, inp_importance, 0 || num_inp);
75  CHECK_SHAPE(context, neighbors_index, num_neighbors);
76  CHECK_SHAPE(context, neighbors_kernel_index, num_neighbors);
77  CHECK_SHAPE(context, neighbors_importance, 0 || num_neighbors);
78  CHECK_SHAPE(context, out_features_gradient, num_out, out_channels);
79 
80  TensorShape filter_backprop_shape(filters.shape());
81  Tensor* filter_backprop = nullptr;
82  OP_REQUIRES_OK(context,
83  context->allocate_output(0, filter_backprop_shape,
84  &filter_backprop));
85 
86  std::vector<int> filter_dims;
87  for (int i = 0; i < filters.dims(); ++i) {
88  filter_dims.push_back(filters.dim_size(i));
89  }
90  bool point_importances = inp_importance.shape().dim_size(0) != 0;
91 
92  bool has_neighbors_importances =
93  neighbors_importance.shape().dim_size(0) != 0;
94 
95  Kernel(context, filters, inp_features, inp_importance, neighbors_index,
96  neighbors_kernel_index, neighbors_importance,
97  neighbors_row_splits, out_features_gradient, filter_dims,
98  point_importances, has_neighbors_importances, *filter_backprop);
99  }
100 
101  virtual void Kernel(tensorflow::OpKernelContext* context,
102  const tensorflow::Tensor& filters,
103  const tensorflow::Tensor& inp_features,
104  const tensorflow::Tensor& inp_importance,
105  const tensorflow::Tensor& neighbors_index,
106  const tensorflow::Tensor& neighbors_kernel_index,
107  const tensorflow::Tensor& neighbors_importance,
108  const tensorflow::Tensor& neighbors_row_splits,
109  const tensorflow::Tensor& out_features_gradient,
110  const std::vector<int>& filter_dims,
111  const bool point_importances,
112  const bool has_neighbors_importances,
113  tensorflow::Tensor& filter_backprop) = 0;
114 
115 public:
116  bool normalize;
118 };
#define CHECK_SHAPE_COMBINE_FIRST_DIMS(tensor,...)
Definition: TorchHelper.h:214
#define CHECK_SHAPE(tensor,...)
Definition: TorchHelper.h:205
ImGuiContext * context
Definition: Window.cpp:95
Definition: SparseConvBackpropFilterOpKernel.h:36
SparseConvBackpropFilterOpKernel(tensorflow::OpKernelConstruction *construction)
Definition: SparseConvBackpropFilterOpKernel.h:38
virtual void Kernel(tensorflow::OpKernelContext *context, const tensorflow::Tensor &filters, const tensorflow::Tensor &inp_features, const tensorflow::Tensor &inp_importance, const tensorflow::Tensor &neighbors_index, const tensorflow::Tensor &neighbors_kernel_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 point_importances, const bool has_neighbors_importances, tensorflow::Tensor &filter_backprop)=0
int max_temp_mem_MB
Definition: SparseConvBackpropFilterOpKernel.h:117
bool normalize
Definition: SparseConvBackpropFilterOpKernel.h:116
void Compute(tensorflow::OpKernelContext *context) override
Definition: SparseConvBackpropFilterOpKernel.h:49
Class for dimensions for which the value should be inferred.
Definition: ShapeChecking.h:69
Definition: ShapeChecking.h:35