open3d.ml.tf.ops.trilinear_devoxelize_grad

open3d.ml.tf.ops.trilinear_devoxelize_grad(grad_y, indices, weights, resolution, name=None)

Gradient function for Trilinear Devoxelize op.

This function takes feature gradients and indices, weights returned from the op and computes gradient for voxelgrid.

Parameters

• grad_y – A Tensor of type float32. Gradients for the interpolated features. Shape is [B, C, N].

• indices – A Tensor of type int32. Indices which are used to interpolate features. Shape is [B, 8, N].

• weights – A Tensor of type float32. Weights for each index used to interpolate features. Shape is [B, 8, N].

• resolution – An int. Integer attribute defining resolution of the grid.

• name – A name for the operation (optional).

Returns

A Tensor of type float32. Output gradients for the voxel grid. Shape is [B, C, R, R, R]