Open3D (C++ API)  0.16.1
SamplingOpKernel.h
Go to the documentation of this file.
1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// The MIT License (MIT)
5//
6// Copyright (c) 2018-2021 www.open3d.org
7//
8// Permission is hereby granted, free of charge, to any person obtaining a copy
9// of this software and associated documentation files (the "Software"), to deal
10// in the Software without restriction, including without limitation the rights
11// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12// copies of the Software, and to permit persons to whom the Software is
13// furnished to do so, subject to the following conditions:
14//
15// The above copyright notice and this permission notice shall be included in
16// all copies or substantial portions of the Software.
17//
18// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
23// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
24// IN THE SOFTWARE.
25// ----------------------------------------------------------------------------
26
27#pragma once
28
29#include "../TensorFlowHelper.h"
30#include "tensorflow/core/framework/op.h"
31#include "tensorflow/core/framework/op_kernel.h"
32#include "tensorflow/core/lib/core/errors.h"
33
34class FurthestPointSamplingOpKernel : public tensorflow::OpKernel {
35public:
37 tensorflow::OpKernelConstruction* construction)
38 : OpKernel(construction) {
39 using namespace tensorflow;
40
41 OP_REQUIRES_OK(construction,
42 construction->GetAttr("sample_size", &sample_size));
43 OP_REQUIRES(construction, sample_size > 0,
44 errors::InvalidArgument(
45 "FurthestPointSampling expects positive npoint"));
46 }
47
48 void Compute(tensorflow::OpKernelContext* context) override {
49 using namespace tensorflow;
50
51 const Tensor& inp_tensor = context->input(0);
52 OP_REQUIRES(
53 context,
54 inp_tensor.dims() == 3 && inp_tensor.shape().dim_size(2) == 3,
55 errors::InvalidArgument("FurthestPointSampling expects "
56 "(batch_size,num_points,3) inp shape"));
57 int batch_size = inp_tensor.shape().dim_size(0);
58 int pts_size = inp_tensor.shape().dim_size(1);
59 auto inp_flat = inp_tensor.flat<float>();
60 const float* inp = &(inp_flat(0));
61
62 Tensor* out_tensor;
63 OP_REQUIRES_OK(context, context->allocate_output(
64 0, TensorShape{batch_size, sample_size},
65 &out_tensor));
66 auto out_flat = out_tensor->flat<int>();
67 int* out = &(out_flat(0));
68
69 Tensor temp_tensor;
70 OP_REQUIRES_OK(context,
71 context->allocate_temp(DataTypeToEnum<float>::value,
72 TensorShape{batch_size, pts_size},
73 &temp_tensor));
74 auto temp_flat = temp_tensor.flat<float>();
75 float* temp = &(temp_flat(0));
76
77 Kernel(context, batch_size, pts_size, sample_size, inp, temp, out);
78 }
79
80 virtual void Kernel(tensorflow::OpKernelContext* context,
81 int b,
82 int n,
83 int m,
84 const float* dataset,
85 float* temp,
86 int* idxs) = 0;
87
88protected:
90};
ImGuiContext * context
Definition: Window.cpp:95
Definition: SamplingOpKernel.h:34
void Compute(tensorflow::OpKernelContext *context) override
Definition: SamplingOpKernel.h:48
virtual void Kernel(tensorflow::OpKernelContext *context, int b, int n, int m, const float *dataset, float *temp, int *idxs)=0
int sample_size
Definition: SamplingOpKernel.h:89
FurthestPointSamplingOpKernel(tensorflow::OpKernelConstruction *construction)
Definition: SamplingOpKernel.h:36