软件工程应用与实践（13）-Open3D ML（4）

2021SC@SDUS

open3d

Open3D ML是Open3D的一个扩展，用于3D机器学习任务。它建立在Open3D核心库的基础上，并使用机器学习工具对其进行扩展，以进行3D数据处理。要使用它，需要使用PyTorch或TensorFlow安装Open3D，并查看Open3D-ML。

gradients.py

from .lib import _lib
import tensorflow as _tf
from tensorflow.python.framework import ops as _ops


@_ops.RegisterGradient("Open3DVoxelPooling")
def _voxel_pooling_grad(op, grad_pos, grad_feat):
    features_grad = _lib.open3d_voxel_pooling_grad(
        positions=op.inputs[0],
        features=op.inputs[1],
        voxel_size=op.inputs[2],
        pooled_positions=op.outputs[0],
        pooled_features_gradient=grad_feat,
        position_fn=op.get_attr('position_fn'),
        feature_fn=op.get_attr('feature_fn'),
    )
    return [None, features_grad, None]


@_ops.RegisterGradient("Open3DContinuousConv")
def _continuous_conv_grad(op, grad):

    filters = op.inputs[0]
    out_positions = op.inputs[1]
    extents = op.inputs[2]
    offset = op.inputs[3]
    inp_positions = op.inputs[4]
    inp_features = op.inputs[5]
    inp_importance = op.inputs[6]
    neighbors_index = op.inputs[7]
    neighbors_importance = op.inputs[8]
    neighbors_row_splits = op.inputs[9]

    filter_grad = _lib.open3d_continuous_conv_backprop_filter(
        align_corners=op.get_attr('align_corners'),
        interpolation=op.get_attr('interpolation'),
        coordinate_mapping=op.get_attr('coordinate_mapping'),
        normalize=op.get_attr('normalize'),
        max_temp_mem_MB=op.get_attr('max_temp_mem_MB'),
        filters=filters,
        out_positions=out_positions,
        extents=extents,
        offset=offset,
        inp_positions=inp_positions,
        inp_features=inp_features,
        inp_importance=inp_importance,
        neighbors_index=neighbors_index,
        neighbors_importance=neighbors_importance,