Open3D (C++ API)  0.16.1
NmsOpKernel.h
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26
27#pragma once
28
29//#include "open3d/ml/impl/misc/VoxelPooling.h"
31#include "tensorflow/core/framework/op.h"
32#include "tensorflow/core/framework/op_kernel.h"
33#include "tensorflow/core/lib/core/errors.h"
34
36// namespace for code that is common for all kernels
37namespace nms_opkernel {
38
39class OutputAllocator {
40public:
41 OutputAllocator(tensorflow::OpKernelContext* context) : context(context) {}
42
43 void AllocKeepIndices(int64_t** ptr, int64_t num) {
44 using namespace tensorflow;
45 *ptr = nullptr;
46 Tensor* tensor = 0;
47 TensorShape shape({num});
48 OP_REQUIRES_OK(context, context->allocate_output(0, shape, &tensor));
49 auto flat_tensor = tensor->flat<int64>();
50 *ptr = (int64_t*)flat_tensor.data();
51 }
52
53private:
54 tensorflow::OpKernelContext* context;
55};
56
57// Base class with common code for the OpKernel implementations
58class NmsOpKernel : public tensorflow::OpKernel {
59public:
60 explicit NmsOpKernel(tensorflow::OpKernelConstruction* construction)
61 : OpKernel(construction) {
62 OP_REQUIRES_OK(construction,
63 construction->GetAttr("nms_overlap_thresh",
64 &nms_overlap_thresh));
65 }
66
67 void Compute(tensorflow::OpKernelContext* context) override {
68 using namespace tensorflow;
69 const Tensor& boxes = context->input(0);
70 const Tensor& scores = context->input(1);
71
72 {
73 using namespace open3d::ml::op_util;
74 Dim num_points("num_points");
75 Dim five(5, "five");
76 CHECK_SHAPE(context, boxes, num_points, five);
77 CHECK_SHAPE(context, scores, num_points);
78 }
79
80 Kernel(context, boxes, scores);
81 }
82
83 // Function with the device specific code
84 virtual void Kernel(tensorflow::OpKernelContext* context,
85 const tensorflow::Tensor& boxes,
86 const tensorflow::Tensor& scores) = 0;
87
88protected:
89 float nms_overlap_thresh;
90};
91
92} // namespace nms_opkernel
#define CHECK_SHAPE(tensor,...)
Definition: TorchHelper.h:205
ImGuiContext * context
Definition: Window.cpp:95
Class for dimensions for which the value should be inferred.
Definition: ShapeChecking.h:69
Definition: ShapeChecking.h:35