Open3D (C++ API)  0.17.0
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KnnSearchOpKernel.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 knn_search_opkernel {
19
20class KnnSearchOpKernel : public tensorflow::OpKernel {
21public:
22 explicit KnnSearchOpKernel(tensorflow::OpKernelConstruction* construction)
23 : OpKernel(construction) {
24 using namespace open3d::core::nns;
25 using namespace tensorflow;
26 std::string metric_str;
27 OP_REQUIRES_OK(construction,
28 construction->GetAttr("metric", &metric_str));
29 if (metric_str == "L1")
30 metric = L1;
31 else
32 metric = L2;
33
34 OP_REQUIRES_OK(construction,
35 construction->GetAttr("ignore_query_point",
36 &ignore_query_point));
37
38 OP_REQUIRES_OK(construction, construction->GetAttr("return_distances",
39 &return_distances));
40 }
41
42 void Compute(tensorflow::OpKernelContext* context) override {
43 using namespace tensorflow;
44 static_assert(sizeof(int64) == sizeof(int64_t),
45 "int64 type is not compatible");
46
47 const Tensor& points = context->input(0);
48 const Tensor& queries = context->input(1);
49 const Tensor& k_tensor = context->input(2);
50 const TensorShape k_shape(k_tensor.shape());
51 OP_REQUIRES(context, k_shape.dims() == 0,
52 errors::InvalidArgument("k must be a rank 0 tensor"));
53 const int k = k_tensor.scalar<int32_t>()();
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, points_row_splits, batch_size + 1);
65 CHECK_SHAPE(context, queries_row_splits, batch_size + 1);
66 }
67
68 Tensor* query_neighbors_row_splits = 0;
69 TensorShape query_neighbors_row_splits_shape(
70 {queries.shape().dim_size(0) + 1});
71 OP_REQUIRES_OK(context, context->allocate_output(
72 1, query_neighbors_row_splits_shape,
73 &query_neighbors_row_splits));
74
75 Kernel(context, points, queries, k, points_row_splits,
76 queries_row_splits, *query_neighbors_row_splits);
77 }
78
79 virtual void Kernel(tensorflow::OpKernelContext* context,
80 const tensorflow::Tensor& points,
81 const tensorflow::Tensor& queries,
82 const int k,
83 const tensorflow::Tensor& points_row_splits,
84 const tensorflow::Tensor& queries_row_splits,
85 tensorflow::Tensor& query_neighbors_row_splits) = 0;
86
87protected:
89 bool ignore_query_point;
90 bool return_distances;
91};
92
93} // namespace knn_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
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t int32_t
Definition K4aPlugin.cpp:395
Definition ShapeChecking.h:16