Open3D (C++ API)  0.17.0
ContinuousConvTranspose.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 "open3d/ml/impl/continuous_conv/CoordinateTransformation.h"
13 
14 namespace open3d {
15 namespace ml {
16 namespace impl {
17 
20 template <class TFeat,
21  class TOut,
22  class TReal,
23  class TIndex,
24  InterpolationMode INTERPOLATION,
25  CoordinateMapping MAPPING,
26  bool ALIGN_CORNERS,
27  bool INDIVIDUAL_EXTENT,
28  bool ISOTROPIC_EXTENT,
29  bool NORMALIZE>
30 void _CConvTransposeComputeFeaturesCPU(
31  TOut* out_features,
32  const std::vector<int>& filter_dims,
33  const TFeat* filter,
34  size_t num_out,
35  const TReal* out_positions,
36  const TFeat* out_importance,
37  size_t num_inp,
38  const TReal* inp_positions,
39  const TFeat* inp_features,
40  const TFeat* inp_neighbors_importance_sum,
41  const int64_t* inp_neighbors_row_splits,
42  size_t neighbors_index_size,
43  const TIndex* neighbors_index,
44  const TFeat* neighbors_importance,
45  const int64_t* neighbors_row_splits,
46  const TReal* extents,
47  const TReal* offsets) {
48  const bool NEIGHBORS_IMPORTANCE = inp_neighbors_importance_sum;
49  const int VECSIZE = 32;
50  typedef Eigen::Array<TReal, VECSIZE, 1> Vec_t;
51  typedef InterpolationVec<TReal, VECSIZE, INTERPOLATION> InterpolationVec_t;
52  InterpolationVec_t interpolation;
53 
54  const int in_channels = filter_dims[filter_dims.size() - 2];
55  const int out_channels = filter_dims[filter_dims.size() - 1];
56 
57  int spatial_filter_size = 1;
58  for (int i = 0; i < 3; ++i) spatial_filter_size *= filter_dims[i];
59  Eigen::Array<int, 3, 1> filter_size_xyz(filter_dims[2], filter_dims[1],
60  filter_dims[0]);
61 
62  memset(out_features, 0, sizeof(TOut) * num_out * out_channels);
63 
64  tbb::parallel_for(
65  tbb::blocked_range<size_t>(0, num_out, 32),
66  [&](const tbb::blocked_range<size_t>& r) {
67  int range_length = r.end() - r.begin();
68 
69  Eigen::Matrix<TFeat, Eigen::Dynamic, Eigen::Dynamic> B(
70  in_channels * spatial_filter_size, range_length);
71  B.setZero();
72 
73  typedef Eigen::Array<TFeat, VECSIZE, Eigen::Dynamic> Matrix;
74  Matrix infeat(VECSIZE, in_channels);
75 
76  Eigen::Array<TReal, 3, 1> offsets_(offsets[0], offsets[1],
77  offsets[2]);
78 
79  Eigen::Array<TReal, VECSIZE, 3> inv_extents;
80  if (INDIVIDUAL_EXTENT == false) {
81  if (ISOTROPIC_EXTENT) {
82  inv_extents = 1 / extents[0];
83  } else {
84  inv_extents.col(0) = 1 / extents[0];
85  inv_extents.col(1) = 1 / extents[1];
86  inv_extents.col(2) = 1 / extents[2];
87  }
88  }
89 
90  for (size_t out_idx = r.begin(); out_idx != r.end();
91  ++out_idx) {
92  const int out_col = out_idx - r.begin();
93  const size_t neighbor_start = neighbors_row_splits[out_idx];
94  const size_t neighbor_end =
95  (out_idx + 1 < num_out
96  ? neighbors_row_splits[out_idx + 1]
97  : neighbors_index_size);
98 
99  typename InterpolationVec_t::Weight_t interp_weights;
100  typename InterpolationVec_t::Idx_t interp_indices;
101 
102  int vec_valid_count = 0;
103  Vec_t x, y, z;
104 
105  // set to zero to avoid problems with vectors with less than
106  // VECSIZE valid entries
107  x.setZero();
108  y.setZero();
109  z.setZero();
110  for (size_t n = neighbor_start; n < neighbor_end; ++n) {
111  const size_t inp_idx = neighbors_index[n];
112 
113  const int i = vec_valid_count;
114  x(i) = out_positions[out_idx * 3 + 0] -
115  inp_positions[inp_idx * 3 + 0];
116  y(i) = out_positions[out_idx * 3 + 1] -
117  inp_positions[inp_idx * 3 + 1];
118  z(i) = out_positions[out_idx * 3 + 2] -
119  inp_positions[inp_idx * 3 + 2];
120 
121  if (INDIVIDUAL_EXTENT) {
122  if (ISOTROPIC_EXTENT) {
123  inv_extents.row(i) = 1 / extents[inp_idx];
124  } else {
125  inv_extents(i, 0) =
126  1 / extents[3 * inp_idx + 0];
127  inv_extents(i, 1) =
128  1 / extents[3 * inp_idx + 1];
129  inv_extents(i, 2) =
130  1 / extents[3 * inp_idx + 2];
131  }
132  }
133 
134  TFeat n_importance = NEIGHBORS_IMPORTANCE
135  ? neighbors_importance[n]
136  : TFeat(1);
137  for (int ic = 0; ic < in_channels; ++ic)
138  infeat(i, ic) =
139  inp_features[inp_idx * in_channels + ic] *
140  n_importance;
141 
142  if (NORMALIZE) {
143  TFeat normalizer(1);
144  if (NEIGHBORS_IMPORTANCE) {
145  if (inp_neighbors_importance_sum[inp_idx] !=
146  TFeat(0))
147  normalizer /= inp_neighbors_importance_sum
148  [inp_idx];
149  } else {
150  size_t num_inp_neighbors;
151  const size_t inp_neighbor_start =
152  inp_neighbors_row_splits[inp_idx];
153  const size_t inp_neighbor_end =
154  inp_neighbors_row_splits[inp_idx + 1];
155  num_inp_neighbors =
156  inp_neighbor_end - inp_neighbor_start;
157  if (num_inp_neighbors > 0)
158  normalizer /= TFeat(num_inp_neighbors);
159  }
160  for (int ic = 0; ic < in_channels; ++ic)
161  infeat(i, ic) *= normalizer;
162  }
163 
164  ++vec_valid_count;
165  if (vec_valid_count == VECSIZE ||
166  n + 1 == neighbor_end) {
167  ComputeFilterCoordinates<ALIGN_CORNERS, MAPPING>(
168  x, y, z, filter_size_xyz, inv_extents,
169  offsets_);
170  interpolation.Interpolate(
171  interp_weights, interp_indices, x, y, z,
172  filter_size_xyz, in_channels);
173  for (int k = 0; k < vec_valid_count; ++k) {
174  for (int j = 0; j < InterpolationVec_t::Size();
175  ++j) {
176  for (int ic = 0; ic < in_channels; ++ic)
177  B(interp_indices(j, k) + ic, out_col) +=
178  TFeat(interp_weights(j, k)) *
179  infeat(k, ic);
180  }
181  }
182  vec_valid_count = 0;
183  }
184  }
185 
186  } // out_idx
187 
188  Eigen::Map<const Eigen::Matrix<TFeat, Eigen::Dynamic,
189  Eigen::Dynamic>>
190  A(filter, out_channels,
191  spatial_filter_size * in_channels);
192  Eigen::Map<Eigen::Matrix<TOut, Eigen::Dynamic, Eigen::Dynamic>>
193  C(out_features + (r.begin() * out_channels),
194  out_channels, range_length);
195 
196  C = (A * B).template cast<TOut>();
197  if (out_importance) {
198  for (int i = 0; i < range_length; ++i)
199  C.col(i) *= TOut(out_importance[r.begin() + i]);
200  }
201  });
202 }
203 
285 template <class TFeat, class TOut, class TReal, class TIndex>
286 void CConvTransposeComputeFeaturesCPU(TOut* out_features,
287  const std::vector<int>& filter_dims,
288  const TFeat* filter,
289  size_t num_out,
290  const TReal* out_positions,
291  const TFeat* out_importance,
292  size_t num_inp,
293  const TReal* inp_positions,
294  const TFeat* inp_features,
295  const TFeat* inp_neighbors_importance_sum,
296  const int64_t* inp_neighbors_row_splits,
297  size_t neighbors_index_size,
298  const TIndex* neighbors_index,
299  const TFeat* neighbors_importance,
300  const int64_t* neighbors_row_splits,
301  const TReal* extents,
302  const TReal* offsets,
303  InterpolationMode interpolation,
304  CoordinateMapping coordinate_mapping,
305  bool align_corners,
306  bool individual_extent,
307  bool isotropic_extent,
308  bool normalize) {
309 #define FN_PARAMETERS \
310  out_features, filter_dims, filter, num_out, out_positions, out_importance, \
311  num_inp, inp_positions, inp_features, \
312  inp_neighbors_importance_sum, inp_neighbors_row_splits, \
313  neighbors_index_size, neighbors_index, neighbors_importance, \
314  neighbors_row_splits, extents, offsets
315 
316 #define CALL_TEMPLATE(INTERPOLATION, MAPPING, ALIGN_CORNERS, \
317  INDIVIDUAL_EXTENT, ISOTROPIC_EXTENT, NORMALIZE) \
318  if (INTERPOLATION == interpolation && MAPPING == coordinate_mapping && \
319  ALIGN_CORNERS == align_corners && \
320  INDIVIDUAL_EXTENT == individual_extent && \
321  ISOTROPIC_EXTENT == isotropic_extent && NORMALIZE == normalize) \
322  _CConvTransposeComputeFeaturesCPU<TFeat, TOut, TReal, TIndex, \
323  INTERPOLATION, MAPPING, \
324  ALIGN_CORNERS, INDIVIDUAL_EXTENT, \
325  ISOTROPIC_EXTENT, NORMALIZE>( \
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::_CConvTransposeComputeFeaturesCPU
void _CConvTransposeComputeFeaturesCPU(TOut *out_features, const std::vector< int > &filter_dims, const TFeat *filter, size_t num_out, const TReal *out_positions, const TFeat *out_importance, size_t num_inp, const TReal *inp_positions, const TFeat *inp_features, const TFeat *inp_neighbors_importance_sum, const int64_t *inp_neighbors_row_splits, 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)
Definition: ContinuousConvTranspose.h:30
open3d::ml::impl::CConvTransposeComputeFeaturesCPU
void CConvTransposeComputeFeaturesCPU(TOut *out_features, const std::vector< int > &filter_dims, const TFeat *filter, size_t num_out, const TReal *out_positions, const TFeat *out_importance, size_t num_inp, const TReal *inp_positions, const TFeat *inp_features, const TFeat *inp_neighbors_importance_sum, const int64_t *inp_neighbors_row_splits, 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, InterpolationMode interpolation, CoordinateMapping coordinate_mapping, bool align_corners, bool individual_extent, bool isotropic_extent, bool normalize)
Definition: ContinuousConvTranspose.h:286
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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