Add Tensor FPFH (#5429)

cpp/benchmarks/t/pipelines/CMakeLists.txt

@@ -1,4 +1,5 @@
 target_sources(benchmarks PRIVATE
     odometry/RGBDOdometry.cpp
+    registration/Feature.cpp
     registration/Registration.cpp
 )

cpp/benchmarks/t/pipelines/registration/Feature.cpp

@@ -0,0 +1,152 @@
+// ----------------------------------------------------------------------------
+// -                        Open3D: www.open3d.org                            -
+// ----------------------------------------------------------------------------
+// The MIT License (MIT)
+//
+// Copyright (c) 2018-2021 www.open3d.org
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+// ----------------------------------------------------------------------------
+
+#include "open3d/t/pipelines/registration/Feature.h"
+
+#include <benchmark/benchmark.h>
+
+#include "open3d/core/CUDAUtils.h"
+#include "open3d/data/Dataset.h"
+#include "open3d/geometry/PointCloud.h"
+#include "open3d/pipelines/registration/Feature.h"
+#include "open3d/t/geometry/PointCloud.h"
+#include "open3d/t/io/PointCloudIO.h"
+
+namespace open3d {
+namespace t {
+namespace pipelines {
+namespace registration {
+
+data::BunnyMesh pointcloud_ply;
+static const std::string path = pointcloud_ply.GetPath();
+
+void LegacyComputeFPFHFeature(benchmark::State& state,
+                              utility::optional<int> max_nn,
+                              utility::optional<double> radius) {
+    auto pcd = open3d::io::CreatePointCloudFromFile(path)->UniformDownSample(3);
+    pcd->EstimateNormals();
+    for (auto _ : state) {
+        if (max_nn.has_value() && radius.has_value()) {
+            auto fpfh = open3d::pipelines::registration::ComputeFPFHFeature(
+                    *pcd, open3d::geometry::KDTreeSearchParamHybrid(
+                                  radius.value(), max_nn.value()));
+        } else if (max_nn.has_value() && !radius.has_value()) {
+            auto fpfh = open3d::pipelines::registration::ComputeFPFHFeature(
+                    *pcd,
+                    open3d::geometry::KDTreeSearchParamKNN(max_nn.value()));
+        } else if (!max_nn.has_value() && radius.has_value()) {
+            auto fpfh = open3d::pipelines::registration::ComputeFPFHFeature(
+                    *pcd,
+                    open3d::geometry::KDTreeSearchParamRadius(radius.value()));
+        }
+    }
+}
+
+void ComputeFPFHFeature(benchmark::State& state,
+                        const core::Device& device,
+                        const core::Dtype& dtype,
+                        utility::optional<int> max_nn,
+                        utility::optional<double> radius) {
+    t::geometry::PointCloud pcd;
+    t::io::ReadPointCloud(path, pcd);
+    pcd = pcd.To(device).UniformDownSample(3);
+    pcd.SetPointPositions(pcd.GetPointPositions().To(dtype));
+    pcd.EstimateNormals();
+
+    core::Tensor fpfh;
+    // Warm up.
+    fpfh = t::pipelines::registration::ComputeFPFHFeature(pcd, max_nn, radius);
+
+    for (auto _ : state) {
+        fpfh = t::pipelines::registration::ComputeFPFHFeature(pcd, max_nn,
+                                                              radius);
+        core::cuda::Synchronize(device);
+    }
+}
+
+BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
+                  Legacy Hybrid[0.01 | 100],
+                  100,
+                  0.01)
+        ->Unit(benchmark::kMillisecond);
+BENCHMARK_CAPTURE(LegacyComputeFPFHFeature, Legacy Hybrid[0.02 | 50], 50, 0.02)
+        ->Unit(benchmark::kMillisecond);
+BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
+                  Legacy Hybrid[0.02 | 100],
+                  100,
+                  0.02)
+        ->Unit(benchmark::kMillisecond);
+BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
+                  Legacy KNN[50],
+                  50,
+                  utility::nullopt)
+        ->Unit(benchmark::kMillisecond);
+BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
+                  Legacy KNN[100],
+                  100,
+                  utility::nullopt)
+        ->Unit(benchmark::kMillisecond);
+BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
+                  Legacy Radius[0.01],
+                  utility::nullopt,
+                  0.01)
+        ->Unit(benchmark::kMillisecond);
+BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
+                  Legacy Radius[0.02],
+                  utility::nullopt,
+                  0.02)
+        ->Unit(benchmark::kMillisecond);
+
+#define ENUM_FPFH_METHOD_DEVICE(METHOD_NAME, MAX_NN, RADIUS, DEVICE)       \
+    BENCHMARK_CAPTURE(ComputeFPFHFeature, METHOD_NAME##_Float32,           \
+                      core::Device(DEVICE), core::Float32, MAX_NN, RADIUS) \
+            ->Unit(benchmark::kMillisecond);                               \
+    BENCHMARK_CAPTURE(ComputeFPFHFeature, DEVICE METHOD_NAME##_Float64,    \
+                      core::Device(DEVICE), core::Float32, MAX_NN, RADIUS) \
+            ->Unit(benchmark::kMillisecond);
+
+ENUM_FPFH_METHOD_DEVICE(CPU[0.02 | 50] Hybrid, 100, 0.01, "CPU:0")
+ENUM_FPFH_METHOD_DEVICE(CPU[0.02 | 50] Hybrid, 50, 0.02, "CPU:0")
+ENUM_FPFH_METHOD_DEVICE(CPU[0.02 | 100] Hybrid, 100, 0.02, "CPU:0")
+ENUM_FPFH_METHOD_DEVICE(CPU[50] KNN, 50, utility::nullopt, "CPU:0")
+ENUM_FPFH_METHOD_DEVICE(CPU[100] KNN, 100, utility::nullopt, "CPU:0")
+ENUM_FPFH_METHOD_DEVICE(CPU[0.01] Radius, utility::nullopt, 0.01, "CPU:0")
+ENUM_FPFH_METHOD_DEVICE(CPU[0.02] Radius, utility::nullopt, 0.02, "CPU:0")
+
+#ifdef BUILD_CUDA_MODULE
+ENUM_FPFH_METHOD_DEVICE(CUDA[0.02 | 50] Hybrid, 100, 0.01, "CUDA:0")
+ENUM_FPFH_METHOD_DEVICE(CUDA[0.02 | 50] Hybrid, 50, 0.01, "CUDA:0")
+ENUM_FPFH_METHOD_DEVICE(CUDA[0.02 | 100] Hybrid, 100, 0.02, "CUDA:0")
+ENUM_FPFH_METHOD_DEVICE(CUDA[50] KNN, 50, utility::nullopt, "CUDA:0")
+ENUM_FPFH_METHOD_DEVICE(CUDA[100] KNN, 100, utility::nullopt, "CUDA:0")
+ENUM_FPFH_METHOD_DEVICE(CUDA[0.01] Radius, utility::nullopt, 0.01, "CUDA:0")
+ENUM_FPFH_METHOD_DEVICE(CUDA[0.02] Radius, utility::nullopt, 0.02, "CUDA:0")
+#endif
+
+}  // namespace registration
+}  // namespace pipelines
+}  // namespace t
+}  // namespace open3d

cpp/open3d/t/pipelines/CMakeLists.txt

@@ -9,6 +9,7 @@ target_sources(tpipelines PRIVATE
 target_sources(tpipelines PRIVATE
     registration/Registration.cpp
     registration/TransformationEstimation.cpp
+    registration/Feature.cpp
 )
 
 target_sources(tpipelines PRIVATE

cpp/open3d/t/pipelines/kernel/CMakeLists.txt

@@ -8,6 +8,8 @@ target_sources(tpipelines_kernel PRIVATE
     RGBDOdometry.cpp
     RGBDOdometryCPU.cpp
     TransformationConverter.cpp
+    Feature.cpp
+    FeatureCPU.cpp
 )
 
 if (BUILD_CUDA_MODULE)
@@ -16,6 +18,7 @@ if (BUILD_CUDA_MODULE)
         FillInLinearSystemCUDA.cu
         RGBDOdometryCUDA.cu
         TransformationConverter.cu
+        FeatureCUDA.cu
     )
 endif()
 

cpp/open3d/t/pipelines/kernel/Feature.cpp

@@ -0,0 +1,58 @@
+// ----------------------------------------------------------------------------
+// -                        Open3D: www.open3d.org                            -
+// ----------------------------------------------------------------------------
+// The MIT License (MIT)
+//
+// Copyright (c) 2018-2021 www.open3d.org
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+// ----------------------------------------------------------------------------
+
+#include "open3d/t/pipelines/kernel/Feature.h"
+
+#include "open3d/core/TensorCheck.h"
+
+namespace open3d {
+namespace t {
+namespace pipelines {
+namespace kernel {
+
+void ComputeFPFHFeature(const core::Tensor &points,
+                        const core::Tensor &normals,
+                        const core::Tensor &indices,
+                        const core::Tensor &distance2,
+                        const core::Tensor &counts,
+                        core::Tensor &fpfhs) {
+    core::AssertTensorShape(fpfhs, {points.GetLength(), 33});
+    const core::Tensor points_d = points.Contiguous();
+    const core::Tensor normals_d = normals.Contiguous();
+    const core::Tensor counts_d = counts.To(core::Int32);
+    if (points_d.IsCPU()) {
+        ComputeFPFHFeatureCPU(points_d, normals_d, indices, distance2, counts_d,
+                              fpfhs);
+    } else {
+        CUDA_CALL(ComputeFPFHFeatureCUDA, points_d, normals_d, indices,
+                  distance2, counts_d, fpfhs);
+    }
+}
+
+}  // namespace kernel
+}  // namespace pipelines
+}  // namespace t
+}  // namespace open3d

cpp/open3d/t/pipelines/kernel/Feature.h

@@ -0,0 +1,61 @@
+// ----------------------------------------------------------------------------
+// -                        Open3D: www.open3d.org                            -
+// ----------------------------------------------------------------------------
+// The MIT License (MIT)
+//
+// Copyright (c) 2018-2021 www.open3d.org
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+// ----------------------------------------------------------------------------
+
+#include "open3d/core/CUDAUtils.h"
+#include "open3d/core/Tensor.h"
+
+namespace open3d {
+namespace t {
+namespace pipelines {
+namespace kernel {
+
+void ComputeFPFHFeature(const core::Tensor &points,
+                        const core::Tensor &normals,
+                        const core::Tensor &indices,
+                        const core::Tensor &distance2,
+                        const core::Tensor &counts,
+                        core::Tensor &fpfhs);
+
+void ComputeFPFHFeatureCPU(const core::Tensor &points,
+                           const core::Tensor &normals,
+                           const core::Tensor &indices,
+                           const core::Tensor &distance2,
+                           const core::Tensor &counts,
+                           core::Tensor &fpfhs);
+
+#ifdef BUILD_CUDA_MODULE
+void ComputeFPFHFeatureCUDA(const core::Tensor &points,
+                            const core::Tensor &normals,
+                            const core::Tensor &indices,
+                            const core::Tensor &distance2,
+                            const core::Tensor &counts,
+                            core::Tensor &fpfhs);
+#endif
+
+}  // namespace kernel
+}  // namespace pipelines
+}  // namespace t
+}  // namespace open3d

cpp/open3d/t/pipelines/kernel/FeatureCPU.cpp

@@ -0,0 +1,27 @@
+// ----------------------------------------------------------------------------
+// -                        Open3D: www.open3d.org                            -
+// ----------------------------------------------------------------------------
+// The MIT License (MIT)
+//
+// Copyright (c) 2018-2021 www.open3d.org
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+// ----------------------------------------------------------------------------
+
+#include "open3d/t/pipelines/kernel/FeatureImpl.h"

cpp/open3d/t/pipelines/kernel/FeatureCUDA.cu

@@ -0,0 +1,27 @@
+// ----------------------------------------------------------------------------
+// -                        Open3D: www.open3d.org                            -
+// ----------------------------------------------------------------------------
+// The MIT License (MIT)
+//
+// Copyright (c) 2018-2021 www.open3d.org
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+// ----------------------------------------------------------------------------
+
+#include "open3d/t/pipelines/kernel/FeatureImpl.h"