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ContinuousConv.h
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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#pragma once
#include <tbb/parallel_for.h>
#include "open3d/ml/impl/continuous_conv/CoordinateTransformation.h"
namespace open3d {
namespace ml {
namespace impl {
/// Implementation of CConvComputeFeatures with template parameters for
/// configuration.
template <class TFeat,
class TOut,
class TReal,
class TIndex,
InterpolationMode INTERPOLATION,
CoordinateMapping MAPPING,
bool ALIGN_CORNERS,
bool INDIVIDUAL_EXTENT,
bool ISOTROPIC_EXTENT,
bool POINT_IMPORTANCE>
void _CConvComputeFeaturesCPU(TOut* out_features,
const std::vector<int>& filter_dims,
const TFeat* filter,
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,
bool normalize) {
const bool NEIGHBORS_IMPORTANCE = neighbors_importance != nullptr;
const int VECSIZE = 32;
typedef Eigen::Array<TReal, VECSIZE, 1> Vec_t;
typedef InterpolationVec<TReal, VECSIZE, INTERPOLATION> InterpolationVec_t;
InterpolationVec_t interpolation;
const int in_channels = filter_dims[filter_dims.size() - 2];
const int out_channels = filter_dims[filter_dims.size() - 1];
int spatial_filter_size = 1;
for (int i = 0; i < 3; ++i) spatial_filter_size *= filter_dims[i];
Eigen::Array<int, 3, 1> filter_size_xyz(filter_dims[2], filter_dims[1],
filter_dims[0]);
memset(out_features, 0, sizeof(TOut) * num_out * out_channels);
typedef Eigen::Array<TFeat, VECSIZE, Eigen::Dynamic> Matrix;
typedef Eigen::Array<TReal, VECSIZE, 3> Matrix3C;
tbb::parallel_for(
tbb::blocked_range<size_t>(0, num_out, 32),
[&](const tbb::blocked_range<size_t>& r) {
int range_length = r.end() - r.begin();
Eigen::Matrix<TOut, Eigen::Dynamic, 1> normalizers(range_length,
1);
normalizers.setZero();
Eigen::Matrix<TFeat, Eigen::Dynamic, Eigen::Dynamic> B(
in_channels * spatial_filter_size, range_length);
B.setZero();
Matrix infeat(VECSIZE, in_channels);
Eigen::Array<TReal, 3, 1> offsets_(offsets[0], offsets[1],
offsets[2]);
Matrix3C inv_extents;
if (INDIVIDUAL_EXTENT == false) {
if (ISOTROPIC_EXTENT) {
inv_extents = 1 / extents[0];
} else {
inv_extents.col(0) = 1 / extents[0];
inv_extents.col(1) = 1 / extents[1];
inv_extents.col(2) = 1 / extents[2];
}
}
for (size_t out_idx = r.begin(); out_idx != r.end();
++out_idx) {
const int out_col = out_idx - r.begin();
const size_t neighbor_start = neighbors_row_splits[out_idx];
const size_t neighbor_end =
neighbors_row_splits[out_idx + 1];
if (INDIVIDUAL_EXTENT) {
if (ISOTROPIC_EXTENT) {
inv_extents = 1 / extents[out_idx];
} else {
inv_extents.col(0) = 1 / extents[3 * out_idx + 0];
inv_extents.col(1) = 1 / extents[3 * out_idx + 1];
inv_extents.col(2) = 1 / extents[3 * out_idx + 2];
}
}
typename InterpolationVec_t::Weight_t interp_weights;
typename InterpolationVec_t::Idx_t interp_indices;
int vec_valid_count = 0;
Vec_t x, y, z;
// set to zero to avoid problems with vectors with less than
// VECSIZE valid entries
x.setZero();
y.setZero();
z.setZero();
for (size_t n = neighbor_start; n < neighbor_end; ++n) {
const size_t inp_idx = neighbors_index[n];
const int i = vec_valid_count;
x(i) = inp_positions[inp_idx * 3 + 0] -
out_positions[out_idx * 3 + 0];
y(i) = inp_positions[inp_idx * 3 + 1] -
out_positions[out_idx * 3 + 1];
z(i) = inp_positions[inp_idx * 3 + 2] -
out_positions[out_idx * 3 + 2];
const TFeat n_importance =
(NEIGHBORS_IMPORTANCE ? neighbors_importance[n]
: TFeat(1));
normalizers(out_col) += TOut(n_importance);
for (int ic = 0; ic < in_channels; ++ic)
infeat(i, ic) =
inp_features[inp_idx * in_channels + ic];
TFeat importance(1.0);
if (POINT_IMPORTANCE)
importance = inp_importance[inp_idx];
if (NEIGHBORS_IMPORTANCE) importance *= n_importance;
if (POINT_IMPORTANCE || NEIGHBORS_IMPORTANCE) {
for (int ic = 0; ic < in_channels; ++ic)
infeat(i, ic) *= importance;
}
++vec_valid_count;
if (vec_valid_count == VECSIZE) {
ComputeFilterCoordinates<ALIGN_CORNERS, MAPPING>(
x, y, z, filter_size_xyz, inv_extents,
offsets_);
interpolation.Interpolate(
interp_weights, interp_indices, x, y, z,
filter_size_xyz, in_channels);
for (int k = 0; k < VECSIZE; ++k)
for (int j = 0; j < InterpolationVec_t::Size();
++j) {
for (int ic = 0; ic < in_channels; ++ic)
B(interp_indices(j, k) + ic, out_col) +=
TFeat(interp_weights(j, k)) *
infeat(k, ic);
}
vec_valid_count = 0;
}
}
if (vec_valid_count) {
ComputeFilterCoordinates<ALIGN_CORNERS, MAPPING>(
x, y, z, filter_size_xyz, inv_extents,
offsets_);
interpolation.Interpolate(interp_weights,
interp_indices, x, y, z,
filter_size_xyz, in_channels);
for (int k = 0; k < vec_valid_count; ++k)
for (int j = 0; j < InterpolationVec_t::Size();
++j) {
for (int ic = 0; ic < in_channels; ++ic)
B(interp_indices(j, k) + ic, out_col) +=
TFeat(interp_weights(j, k)) *
infeat(k, ic);
}
}
} // out_idx
Eigen::Map<const Eigen::Matrix<TFeat, Eigen::Dynamic,
Eigen::Dynamic>>
A(filter, out_channels,
spatial_filter_size * in_channels);
Eigen::Map<Eigen::Matrix<TOut, Eigen::Dynamic, Eigen::Dynamic>>
C(out_features + (r.begin() * out_channels),
out_channels, range_length);
C = (A * B).template cast<TOut>();
if (normalize) {
for (int i = 0; i < range_length; ++i) {
if (normalizers(i) != TOut(0))
C.col(i) /= normalizers(i);
}
}
});
}
/// Computes the output features of a continuous convolution.
///
/// \tparam TFeat Type for the features and weights
/// \tparam TOut Type for the output features
/// \tparam TReal Type for point positions and extents
/// \tparam TIndex Type for neighbor indexing
///
/// \param out_features Output array for the computed features with shape
/// [num_out, out channels]
///
/// \param filter_dims The sizes of the filter dimensions. The size of
/// filter_dims must be 5. The order is
/// [depth, height, width, inp channels, out channels].
///
/// \param filter Pointer to the filter values.
///
/// \param num_out The number of output points.
///
/// \param out_positions The positions of the output points. The shape is
/// [num_out, 3].
///
/// \param num_inp The number of input points.
///
/// \param inp_positions The positions of the input points. The shape is
/// [num_inp, 3].
///
/// \param inp_features The input features with shape
/// [num_inp, in_channels].
///
/// \param inp_importance Optional importance for each input point with
/// shape [num_inp]. Set to null to disable.
///
/// \param neighbors_index_size The size of the neighbors_index array.
///
/// \param neighbors_index The array with lists of neighbors for each
/// output point. The start and end of each sublist is defined by
/// \p neighbors_row_splits.
///
/// \param neighbors_importance Optional importance for each entry in
/// \p neighbors_index. Set to null to disable.
///
/// \param neighbors_row_splits The prefix sum which defines the start
/// and end of the sublists in \p neighbors_index. The size of the
/// array is \p num_out + 1.
///
/// \param extents The spatial extents of the filter in coordinate units.
/// extents can be a scalar or a 1D array of shape [num_out] or a
/// 2D array of shape [num_out,3]. The shape depends on
/// \p individual_extent and \p isotropic_extent.
///
/// \param offsets A single 3D vector used in the filter coordinate
/// computation. The shape is [3].
///
/// \param interpolation The interpolation mode. Either LINEAR or
/// NEAREST_NEIGHBOR.
///
/// \param coordinate_mapping The coordinate mapping function. One of
/// IDENTITY, BALL_TO_CUBE_RADIAL, BALL_TO_CUBE_VOLUME_PRESERVING.
///
/// \param align_corners If true then the voxel centers of the outer voxels
/// of the filter array are mapped to the boundary of the filter shape.
/// If false then the boundary of the filter array is mapped to the
/// boundary of the filter shape.
///
/// \param individual_extent If true each output point has an individual
/// extent.
///
/// \param isotropic_extent If true each then the extent is isotropic for
/// each output point.
///
/// \param normalize If true then the result is normalized either by the
/// number of points (neighbors_importance is null) or by the sum of
/// the respective values in neighbors_importance.
///
template <class TFeat, class TOut, class TReal, class TIndex>
void CConvComputeFeaturesCPU(TOut* out_features,
const std::vector<int>& filter_dims,
const TFeat* filter,
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,
InterpolationMode interpolation,
CoordinateMapping coordinate_mapping,
bool align_corners,
bool individual_extent,
bool isotropic_extent,
bool normalize) {
// Dispatch all template parameter combinations
bool has_importance = inp_importance;
#define FN_PARAMETERS \
out_features, filter_dims, filter, num_out, out_positions, num_inp, \
inp_positions, inp_features, inp_importance, neighbors_index_size, \
neighbors_index, neighbors_importance, neighbors_row_splits, \
extents, offsets, normalize
#define CALL_TEMPLATE(INTERPOLATION, MAPPING, ALIGN_CORNERS, \
INDIVIDUAL_EXTENT, ISOTROPIC_EXTENT, HAS_IMPORTANCE) \
if (INTERPOLATION == interpolation && MAPPING == coordinate_mapping && \
ALIGN_CORNERS == align_corners && \
INDIVIDUAL_EXTENT == individual_extent && \
ISOTROPIC_EXTENT == isotropic_extent && \
HAS_IMPORTANCE == has_importance) \
_CConvComputeFeaturesCPU<TFeat, TOut, TReal, TIndex, INTERPOLATION, \
MAPPING, ALIGN_CORNERS, INDIVIDUAL_EXTENT, \
ISOTROPIC_EXTENT, HAS_IMPORTANCE>( \
FN_PARAMETERS);
#define CALL_TEMPLATE2(INTERPOLATION, MAPPING) \
CALL_TEMPLATE(INTERPOLATION, MAPPING, true, true, true, true) \
CALL_TEMPLATE(INTERPOLATION, MAPPING, true, true, true, false) \
CALL_TEMPLATE(INTERPOLATION, MAPPING, true, true, false, true) \
CALL_TEMPLATE(INTERPOLATION, MAPPING, true, true, false, false) \
CALL_TEMPLATE(INTERPOLATION, MAPPING, true, false, true, true) \
CALL_TEMPLATE(INTERPOLATION, MAPPING, true, false, true, false) \
CALL_TEMPLATE(INTERPOLATION, MAPPING, true, false, false, true) \
CALL_TEMPLATE(INTERPOLATION, MAPPING, true, false, false, false) \
CALL_TEMPLATE(INTERPOLATION, MAPPING, false, true, true, true) \
CALL_TEMPLATE(INTERPOLATION, MAPPING, false, true, true, false) \
CALL_TEMPLATE(INTERPOLATION, MAPPING, false, true, false, true) \
CALL_TEMPLATE(INTERPOLATION, MAPPING, false, true, false, false) \
CALL_TEMPLATE(INTERPOLATION, MAPPING, false, false, true, true) \
CALL_TEMPLATE(INTERPOLATION, MAPPING, false, false, true, false) \
CALL_TEMPLATE(INTERPOLATION, MAPPING, false, false, false, true) \
CALL_TEMPLATE(INTERPOLATION, MAPPING, false, false, false, false)
#define CALL_TEMPLATE3(INTERPOLATION) \
CALL_TEMPLATE2(INTERPOLATION, CoordinateMapping::BALL_TO_CUBE_RADIAL) \
CALL_TEMPLATE2(INTERPOLATION, \
CoordinateMapping::BALL_TO_CUBE_VOLUME_PRESERVING) \
CALL_TEMPLATE2(INTERPOLATION, CoordinateMapping::IDENTITY)
#define CALL_TEMPLATE4 \
CALL_TEMPLATE3(InterpolationMode::LINEAR) \
CALL_TEMPLATE3(InterpolationMode::LINEAR_BORDER) \
CALL_TEMPLATE3(InterpolationMode::NEAREST_NEIGHBOR)
CALL_TEMPLATE4
#undef CALL_TEMPLATE
#undef CALL_TEMPLATE2
#undef CALL_TEMPLATE3
#undef CALL_TEMPLATE4
#undef FN_PARAMETERS
}
} // namespace impl
} // namespace ml
} // namespace open3d