Open3D (C++ API)  0.16.1
RoiPoolOpKernel.h
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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 RoiPoolOpKernel : public tensorflow::OpKernel {
35public:
36 explicit RoiPoolOpKernel(tensorflow::OpKernelConstruction* construction)
37 : OpKernel(construction) {
38 using namespace tensorflow;
39 OP_REQUIRES_OK(construction, construction->GetAttr("sampled_pts_num",
41 }
42
43 void Compute(tensorflow::OpKernelContext* context) override {
44 using namespace tensorflow;
45
46 const Tensor& inp_tensor = context->input(0);
47 OP_REQUIRES(
48 context,
49 inp_tensor.dims() == 3 && inp_tensor.shape().dim_size(2) == 3,
50 errors::InvalidArgument("RoiPool expects "
51 "(batch_size,num_points,3) inp shape"));
52 int batch_size = inp_tensor.shape().dim_size(0);
53 int pts_num = inp_tensor.shape().dim_size(1);
54 auto inp_flat = inp_tensor.flat<float>();
55 const float* inp = &(inp_flat(0));
56
57 const Tensor& boxes3d_tensor = context->input(1);
58 OP_REQUIRES(context,
59 boxes3d_tensor.dims() == 3 &&
60 boxes3d_tensor.shape().dim_size(2) == 7,
61 errors::InvalidArgument(
62 "RoiPool expects "
63 "(batch_size,num_boxes,7) boxes3d shape"));
64 int boxes_num = boxes3d_tensor.shape().dim_size(1);
65 auto boxes3d_flat = boxes3d_tensor.flat<float>();
66 const float* boxes3d = &(boxes3d_flat(0));
67
68 const Tensor& feats_tensor = context->input(2);
69 OP_REQUIRES(context,
70 feats_tensor.dims() == 3 &&
71 feats_tensor.shape().dim_size(1) == pts_num,
72 errors::InvalidArgument(
73 "RoiPool expects "
74 "(batch_size,num_points,feats) feats shape"));
75 int feature_in_len = feats_tensor.shape().dim_size(2);
76 auto feats_flat = feats_tensor.flat<float>();
77 const float* feats = &(feats_flat(0));
78
79 Tensor* out_feats;
80 OP_REQUIRES_OK(context,
81 context->allocate_output(
82 0,
83 TensorShape{batch_size, boxes_num,
84 sampled_pts_num, 3 + feature_in_len},
85 &out_feats));
86 auto out_flat0 = out_feats->flat<float>();
87 float* out0 = &(out_flat0(0));
88
89 Tensor* out_flags;
90 OP_REQUIRES_OK(context, context->allocate_output(
91 1, TensorShape{batch_size, boxes_num},
92 &out_flags));
93 auto out_flat1 = out_flags->flat<int>();
94 int* out1 = &(out_flat1(0));
95
96 Kernel(context, batch_size, pts_num, boxes_num, feature_in_len,
97 sampled_pts_num, inp, boxes3d, feats, out0, out1);
98 }
99
100 virtual void Kernel(tensorflow::OpKernelContext* context,
101 int batch_size,
102 int pts_num,
103 int boxes_num,
104 int feature_in_len,
105 int sampled_pts_num,
106 const float* xyz,
107 const float* boxes3d,
108 const float* pts_feature,
109 float* pooled_features,
110 int* pooled_empty_flag) = 0;
111
112protected:
114};
ImGuiContext * context
Definition: Window.cpp:95
Definition: RoiPoolOpKernel.h:34
RoiPoolOpKernel(tensorflow::OpKernelConstruction *construction)
Definition: RoiPoolOpKernel.h:36
int sampled_pts_num
Definition: RoiPoolOpKernel.h:113
virtual void Kernel(tensorflow::OpKernelContext *context, int batch_size, int pts_num, int boxes_num, int feature_in_len, int sampled_pts_num, const float *xyz, const float *boxes3d, const float *pts_feature, float *pooled_features, int *pooled_empty_flag)=0
void Compute(tensorflow::OpKernelContext *context) override
Definition: RoiPoolOpKernel.h:43