Open3D (C++ API)  0.18.0
ContinuousConvBackpropFilter.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 <tbb/parallel_for.h>
11 
12 #include <mutex>
13 
14 #include "open3d/ml/impl/continuous_conv/CoordinateTransformation.h"
15 
16 namespace open3d {
17 namespace ml {
18 namespace impl {
19 
20 // Implementation of CConvBackropFilterCPU
21 template <class TFeat,
22  class TOut,
23  class TReal,
24  class TIndex,
25  InterpolationMode INTERPOLATION,
26  CoordinateMapping MAPPING,
27  bool ALIGN_CORNERS,
28  bool INDIVIDUAL_EXTENT,
29  bool ISOTROPIC_EXTENT,
30  bool POINT_IMPORTANCE>
31 void _CConvBackropFilterCPU(TOut* filter_backprop,
32  const std::vector<int>& filter_dims,
33  size_t num_out,
34  const TReal* out_positions,
35  size_t num_inp,
36  const TReal* inp_positions,
37  const TFeat* inp_features,
38  const TFeat* inp_importance,
39  size_t neighbors_index_size,
40  const TIndex* neighbors_index,
41  const TFeat* neighbors_importance,
42  const int64_t* neighbors_row_splits,
43  const TReal* extents,
44  const TReal* offsets,
45  const TFeat* out_features_gradient,
46  bool normalize) {
47  const bool NEIGHBORS_IMPORTANCE = neighbors_importance;
48  const int VECSIZE = 32;
49  typedef Eigen::Array<TReal, VECSIZE, 1> Vec_t;
50  typedef InterpolationVec<TReal, VECSIZE, INTERPOLATION> InterpolationVec_t;
51  InterpolationVec_t interpolation;
52 
53  const int in_channels = filter_dims[filter_dims.size() - 2];
54  const int out_channels = filter_dims[filter_dims.size() - 1];
55 
56  int spatial_filter_size = 1;
57  for (int i = 0; i < 3; ++i) spatial_filter_size *= filter_dims[i];
58  const int total_filter_size =
59  spatial_filter_size * in_channels * out_channels;
60  Eigen::Array<int, 3, 1> filter_size_xyz(filter_dims[2], filter_dims[1],
61  filter_dims[0]);
62 
63  memset(filter_backprop, 0, sizeof(TOut) * total_filter_size);
64  std::mutex filter_backprop_mutex;
65 
66  tbb::parallel_for(
67  tbb::blocked_range<size_t>(0, num_out, 32),
68  [&](const tbb::blocked_range<size_t>& r) {
69  int range_length = r.end() - r.begin();
70 
71  Eigen::Matrix<TFeat, Eigen::Dynamic, Eigen::Dynamic> B(
72  in_channels * spatial_filter_size, range_length);
73  B.setZero();
74  Eigen::Matrix<TFeat, Eigen::Dynamic, Eigen::Dynamic> C(
75  out_channels, range_length);
76 
77  typedef Eigen::Array<TFeat, VECSIZE, Eigen::Dynamic> Matrix;
78  Matrix infeat(VECSIZE, in_channels);
79 
80  Eigen::Array<TReal, 3, 1> offsets_(offsets[0], offsets[1],
81  offsets[2]);
82 
83  Eigen::Array<TReal, VECSIZE, 3> inv_extents;
84  if (INDIVIDUAL_EXTENT == false) {
85  if (ISOTROPIC_EXTENT) {
86  inv_extents = 1 / extents[0];
87  } else {
88  inv_extents.col(0) = 1 / extents[0];
89  inv_extents.col(1) = 1 / extents[1];
90  inv_extents.col(2) = 1 / extents[2];
91  }
92  }
93 
94  for (size_t out_idx = r.begin(); out_idx != r.end();
95  ++out_idx) {
96  const int out_col = out_idx - r.begin();
97  const size_t neighbor_start = neighbors_row_splits[out_idx];
98  const size_t neighbor_end =
99  neighbors_row_splits[out_idx + 1];
100  TOut normalizer(0);
101 
102  if (INDIVIDUAL_EXTENT) {
103  if (ISOTROPIC_EXTENT) {
104  inv_extents = 1 / extents[out_idx];
105  } else {
106  inv_extents.col(0) = 1 / extents[3 * out_idx + 0];
107  inv_extents.col(1) = 1 / extents[3 * out_idx + 1];
108  inv_extents.col(2) = 1 / extents[3 * out_idx + 2];
109  }
110  }
111 
112  typename InterpolationVec_t::Weight_t interp_weights;
113  typename InterpolationVec_t::Idx_t interp_indices;
114 
115  int vec_valid_count = 0;
116  Vec_t x, y, z;
117 
118  // set to zero to avoid problems with vectors with less than
119  // VECSIZE valid entries
120  x.setZero();
121  y.setZero();
122  z.setZero();
123  for (size_t n = neighbor_start; n < neighbor_end; ++n) {
124  const size_t inp_idx = neighbors_index[n];
125  const int i = vec_valid_count;
126  x(i) = inp_positions[inp_idx * 3 + 0] -
127  out_positions[out_idx * 3 + 0];
128  y(i) = inp_positions[inp_idx * 3 + 1] -
129  out_positions[out_idx * 3 + 1];
130  z(i) = inp_positions[inp_idx * 3 + 2] -
131  out_positions[out_idx * 3 + 2];
132 
133  const TFeat n_importance =
134  (NEIGHBORS_IMPORTANCE ? neighbors_importance[n]
135  : TFeat(1));
136  normalizer += TOut(n_importance);
137 
138  for (int ic = 0; ic < in_channels; ++ic)
139  infeat(i, ic) =
140  inp_features[inp_idx * in_channels + ic];
141 
142  TFeat importance = TFeat(1);
143  if (POINT_IMPORTANCE)
144  importance = inp_importance[inp_idx];
145  if (NEIGHBORS_IMPORTANCE) importance *= n_importance;
146 
147  if (POINT_IMPORTANCE || NEIGHBORS_IMPORTANCE) {
148  for (int ic = 0; ic < in_channels; ++ic)
149  infeat(i, ic) *= importance;
150  }
151 
152  ++vec_valid_count;
153  if (vec_valid_count == VECSIZE) {
154  ComputeFilterCoordinates<ALIGN_CORNERS, MAPPING>(
155  x, y, z, filter_size_xyz, inv_extents,
156  offsets_);
157  interpolation.Interpolate(
158  interp_weights, interp_indices, x, y, z,
159  filter_size_xyz, in_channels);
160  for (int k = 0; k < VECSIZE; ++k)
161  for (int j = 0; j < InterpolationVec_t::Size();
162  ++j) {
163  for (int ic = 0; ic < in_channels; ++ic)
164  B(interp_indices(j, k) + ic, out_col) +=
165  TFeat(interp_weights(j, k)) *
166  infeat(k, ic);
167  }
168  vec_valid_count = 0;
169  }
170  }
171  if (vec_valid_count) {
172  ComputeFilterCoordinates<ALIGN_CORNERS, MAPPING>(
173  x, y, z, filter_size_xyz, inv_extents,
174  offsets_);
175  interpolation.Interpolate(interp_weights,
176  interp_indices, x, y, z,
177  filter_size_xyz, in_channels);
178  for (int k = 0; k < vec_valid_count; ++k)
179  for (int j = 0; j < InterpolationVec_t::Size();
180  ++j) {
181  for (int ic = 0; ic < in_channels; ++ic)
182  B(interp_indices(j, k) + ic, out_col) +=
183  TFeat(interp_weights(j, k)) *
184  infeat(k, ic);
185  }
186  }
187 
188  C.col(out_col) = Eigen::Map<
189  const Eigen::Array<TFeat, Eigen::Dynamic, 1>>(
190  out_features_gradient + out_idx * out_channels,
191  out_channels, 1);
192 
193  if (normalize && normalizer != TOut(0))
194  C.col(out_col) /= TFeat(normalizer);
195 
196  } // out_idx
197 
198  Eigen::Matrix<TOut, Eigen::Dynamic, Eigen::Dynamic> A(
199  out_channels, spatial_filter_size * in_channels);
200 
201  A = (C * B.transpose()).template cast<TOut>();
202 
203  {
204  std::lock_guard<std::mutex> lock(filter_backprop_mutex);
205  int linear_i = 0;
206  for (int j = 0; j < spatial_filter_size * in_channels; ++j)
207  for (int i = 0; i < out_channels; ++i, ++linear_i) {
208  filter_backprop[linear_i] += A(i, j);
209  }
210  }
211  });
212 }
213 
286 template <class TFeat, class TOut, class TReal, class TIndex>
287 void CConvBackpropFilterCPU(TOut* filter_backprop,
288  const std::vector<int>& filter_dims,
289  size_t num_out,
290  const TReal* out_positions,
291  size_t num_inp,
292  const TReal* inp_positions,
293  const TFeat* inp_features,
294  const TFeat* inp_importance,
295  size_t neighbors_index_size,
296  const TIndex* neighbors_index,
297  const TFeat* neighbors_importance,
298  const int64_t* neighbors_row_splits,
299  const TReal* extents,
300  const TReal* offsets,
301  const TFeat* out_features_gradient,
302  InterpolationMode interpolation,
303  CoordinateMapping coordinate_mapping,
304  bool align_corners,
305  bool individual_extent,
306  bool isotropic_extent,
307  bool normalize) {
308  bool has_importance = inp_importance;
309 
310 #define FN_PARAMETERS \
311  filter_backprop, filter_dims, num_out, out_positions, num_inp, \
312  inp_positions, inp_features, inp_importance, neighbors_index_size, \
313  neighbors_index, neighbors_importance, neighbors_row_splits, \
314  extents, offsets, out_features_gradient, normalize
315 
316 #define CALL_TEMPLATE(INTERPOLATION, MAPPING, ALIGN_CORNERS, \
317  INDIVIDUAL_EXTENT, ISOTROPIC_EXTENT, HAS_IMPORTANCE) \
318  if (INTERPOLATION == interpolation && MAPPING == coordinate_mapping && \
319  ALIGN_CORNERS == align_corners && \
320  INDIVIDUAL_EXTENT == individual_extent && \
321  ISOTROPIC_EXTENT == isotropic_extent && \
322  HAS_IMPORTANCE == has_importance) \
323  _CConvBackropFilterCPU<TFeat, TOut, TReal, TIndex, INTERPOLATION, \
324  MAPPING, ALIGN_CORNERS, INDIVIDUAL_EXTENT, \
325  ISOTROPIC_EXTENT, HAS_IMPORTANCE>( \
326  FN_PARAMETERS);
327 
328 #define CALL_TEMPLATE2(INTERPOLATION, MAPPING) \
329  CALL_TEMPLATE(INTERPOLATION, MAPPING, true, true, true, true) \
330  CALL_TEMPLATE(INTERPOLATION, MAPPING, true, true, true, false) \
331  CALL_TEMPLATE(INTERPOLATION, MAPPING, true, true, false, true) \
332  CALL_TEMPLATE(INTERPOLATION, MAPPING, true, true, false, false) \
333  CALL_TEMPLATE(INTERPOLATION, MAPPING, true, false, true, true) \
334  CALL_TEMPLATE(INTERPOLATION, MAPPING, true, false, true, false) \
335  CALL_TEMPLATE(INTERPOLATION, MAPPING, true, false, false, true) \
336  CALL_TEMPLATE(INTERPOLATION, MAPPING, true, false, false, false) \
337  CALL_TEMPLATE(INTERPOLATION, MAPPING, false, true, true, true) \
338  CALL_TEMPLATE(INTERPOLATION, MAPPING, false, true, true, false) \
339  CALL_TEMPLATE(INTERPOLATION, MAPPING, false, true, false, true) \
340  CALL_TEMPLATE(INTERPOLATION, MAPPING, false, true, false, false) \
341  CALL_TEMPLATE(INTERPOLATION, MAPPING, false, false, true, true) \
342  CALL_TEMPLATE(INTERPOLATION, MAPPING, false, false, true, false) \
343  CALL_TEMPLATE(INTERPOLATION, MAPPING, false, false, false, true) \
344  CALL_TEMPLATE(INTERPOLATION, MAPPING, false, false, false, false)
345 
346 #define CALL_TEMPLATE3(INTERPOLATION) \
347  CALL_TEMPLATE2(INTERPOLATION, CoordinateMapping::BALL_TO_CUBE_RADIAL) \
348  CALL_TEMPLATE2(INTERPOLATION, \
349  CoordinateMapping::BALL_TO_CUBE_VOLUME_PRESERVING) \
350  CALL_TEMPLATE2(INTERPOLATION, CoordinateMapping::IDENTITY)
351 
352 #define CALL_TEMPLATE4 \
353  CALL_TEMPLATE3(InterpolationMode::LINEAR) \
354  CALL_TEMPLATE3(InterpolationMode::LINEAR_BORDER) \
355  CALL_TEMPLATE3(InterpolationMode::NEAREST_NEIGHBOR)
356 
357  CALL_TEMPLATE4
358 
359 #undef CALL_TEMPLATE
360 #undef CALL_TEMPLATE2
361 #undef CALL_TEMPLATE3
362 #undef CALL_TEMPLATE4
363 
364 #undef FN_PARAMETERS
365 }
366 
367 } // namespace impl
368 } // namespace ml
369 } // namespace open3d
CALL_TEMPLATE4
#define CALL_TEMPLATE4
VECSIZE
#define VECSIZE
B
Eigen::Matrix3d B
Definition: PointCloudPlanarPatchDetection.cpp:506
open3d::ml::impl::InterpolationMode
InterpolationMode
Definition: ContinuousConvTypes.h:18
open3d::ml::impl::_CConvBackropFilterCPU
void _CConvBackropFilterCPU(TOut *filter_backprop, const std::vector< int > &filter_dims, size_t num_out, const TReal *out_positions, size_t num_inp, const TReal *inp_positions, const TFeat *inp_features, const TFeat *inp_importance, size_t neighbors_index_size, const TIndex *neighbors_index, const TFeat *neighbors_importance, const int64_t *neighbors_row_splits, const TReal *extents, const TReal *offsets, const TFeat *out_features_gradient, bool normalize)
Definition: ContinuousConvBackpropFilter.h:31
open3d::ml::impl::CConvBackpropFilterCPU
void CConvBackpropFilterCPU(TOut *filter_backprop, const std::vector< int > &filter_dims, size_t num_out, const TReal *out_positions, size_t num_inp, const TReal *inp_positions, const TFeat *inp_features, const TFeat *inp_importance, size_t neighbors_index_size, const TIndex *neighbors_index, const TFeat *neighbors_importance, const int64_t *neighbors_row_splits, const TReal *extents, const TReal *offsets, const TFeat *out_features_gradient, InterpolationMode interpolation, CoordinateMapping coordinate_mapping, bool align_corners, bool individual_extent, bool isotropic_extent, bool normalize)
Definition: ContinuousConvBackpropFilter.h:287
open3d::ml::impl::CoordinateMapping
CoordinateMapping
Definition: ContinuousConvTypes.h:26
open3d
Definition: PinholeCameraIntrinsic.cpp:16
open3d::ml::impl::InterpolationVec
Class for computing interpolation weights.
Definition: CoordinateTransformation.h:185
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