Open3D (C++ API)  0.18.0
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RadiusSearchOpKernel.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
10#include "../TensorFlowHelper.h"
12#include "tensorflow/core/framework/op.h"
13#include "tensorflow/core/framework/op_kernel.h"
14#include "tensorflow/core/lib/core/errors.h"
15
17// namespace for code that is common for all kernels
18namespace radius_search_opkernel {
19
20class RadiusSearchOpKernel : public tensorflow::OpKernel {
21public:
22 explicit RadiusSearchOpKernel(
23 tensorflow::OpKernelConstruction* construction)
24 : OpKernel(construction) {
25 using namespace open3d::core::nns;
26 using namespace tensorflow;
27 std::string metric_str;
28 OP_REQUIRES_OK(construction,
29 construction->GetAttr("metric", &metric_str));
30 if (metric_str == "L1")
31 metric = L1;
32 else
33 metric = L2;
34
35 OP_REQUIRES_OK(construction,
36 construction->GetAttr("ignore_query_point",
37 &ignore_query_point));
38
39 OP_REQUIRES_OK(construction, construction->GetAttr("return_distances",
40 &return_distances));
41 OP_REQUIRES_OK(construction,
42 construction->GetAttr("normalize_distances",
43 &normalize_distances));
44 }
45
46 void Compute(tensorflow::OpKernelContext* context) override {
47 using namespace tensorflow;
48 static_assert(sizeof(int64) == sizeof(int64_t),
49 "int64 type is not compatible");
50
51 const Tensor& points = context->input(0);
52 const Tensor& queries = context->input(1);
53 const Tensor& radii = context->input(2);
54 const Tensor& points_row_splits = context->input(3);
55 const Tensor& queries_row_splits = context->input(4);
56 {
57 using namespace open3d::ml::op_util;
58
59 Dim num_points("num_points");
60 Dim num_queries("num_queries");
61 Dim batch_size("batch_size");
62 CHECK_SHAPE(context, points, num_points, 3);
63 CHECK_SHAPE(context, queries, num_queries, 3);
64 CHECK_SHAPE(context, radii, num_queries);
65 CHECK_SHAPE(context, points_row_splits, batch_size + 1);
66 CHECK_SHAPE(context, queries_row_splits, batch_size + 1);
67 }
68
69 Tensor* query_neighbors_row_splits = 0;
70 TensorShape query_neighbors_row_splits_shape(
71 {queries.shape().dim_size(0) + 1});
72 OP_REQUIRES_OK(context, context->allocate_output(
73 1, query_neighbors_row_splits_shape,
74 &query_neighbors_row_splits));
75
76 Kernel(context, points, queries, radii, points_row_splits,
77 queries_row_splits, *query_neighbors_row_splits);
78 }
79
80 virtual void Kernel(tensorflow::OpKernelContext* context,
81 const tensorflow::Tensor& points,
82 const tensorflow::Tensor& queries,
83 const tensorflow::Tensor& radius,
84 const tensorflow::Tensor& points_row_splits,
85 const tensorflow::Tensor& queries_row_splits,
86 tensorflow::Tensor& query_neighbors_row_splits) = 0;
87
88protected:
90 bool ignore_query_point;
91 bool return_distances;
92 bool normalize_distances;
93};
94
95} // namespace radius_search_opkernel
#define CHECK_SHAPE(tensor,...)
Definition TorchHelper.h:186
ImGuiContext * context
Definition Window.cpp:76
Definition Tensor.h:32
Class for dimensions for which the value should be inferred.
Definition ShapeChecking.h:50
int points
Definition FilePCD.cpp:54
Definition FixedRadiusIndex.cpp:16
Metric
Supported metrics.
Definition NeighborSearchCommon.h:19
@ L1
Definition NeighborSearchCommon.h:19
@ L2
Definition NeighborSearchCommon.h:19
Definition ShapeChecking.h:16