[MO|nGraph]GatherND_8 (openvinotoolkit#7743)

* Add GatherND_8 operation

* Update shape infer function and tests

* Initial commit for nGraph GatherND_8 operation

* Add GatherNDBase class implementation

* Fix base class errors

* Add missrd header

* Update base class

* Update GatherND_8 implementation

* Fix codestyle

* Fix wrong rank

* Implement tests for gatherND_8 shape inference function

* fix codestyle

* Add limitation to doc

* Siplyfy check in shape inference

* Add more test cases

* Update shape inference function

* Add more test cases to cover all case with dynamic input shapes

* Update shape inference function

* Refactor tests

* Add visitor tests for gatherND_8 operation

* Correct comment

* Add additional check is shape inference function

* Update shape inference implementation for gathernd operartion

* Fix codestyle

* Remove restriction for data is fully defined

* Update shape inference functon

* Fix missed check for nonetype

* Remove redundant checks for batch_dims

* Fix codestyle

docs/MO_DG/prepare_model/Supported_Frameworks_Layers.md

@@ -525,7 +525,7 @@ Some TensorFlow\* operations do not match to any Inference Engine layer, but are
 | GRU |  |
 | Gather |  |
 | GatherElements | Doesn't work with negative indices |
-| GatherND |  |
+| GatherND | Doesn't work with negative indices |
 | GatherTree |  |
 | Gemm |  |
 | GlobalAveragePool |  |

model-optimizer/extensions/ops/gathernd.py

@@ -16,7 +16,7 @@ def __init__(self, graph: Graph, attrs: dict):
         mandatory_props = {
             'type': self.op,
             'op': self.op,
-            'version': 'opset5',
+            'version': 'opset8',
             'infer': self.infer,
             'in_ports_count': 2,
             'out_ports_count': 1,
@@ -56,41 +56,55 @@ def infer(node: Node):
         assert len(indices_shape) > 0, "Indices must not be a scalar"
         assert (batch_dims + indices_shape[-1]) <= len(data_shape), \
             "Length of a tuple with indices must not exceed a rank of data tensor excluding batch dimensions"
+        assert node['version'] in ['opset5', 'opset8'], 'Unsupported version of GatherND operation: {}, operation ' \
+                                                        'name : {}'.format(node['version'], node.soft_get('name'))
 
         # compute output shape
+        batch = []
         if batch_dims > 0:
-            if is_fully_defined(data_shape[:batch_dims]):
-                batch = [np.prod(data_shape[:batch_dims]).tolist()]
-            else:
-                batch = [dynamic_dimension_value]
-        else:
-            batch = []
+            if node['version'] == 'opset5':  # Support old version of gatherND shape inference
+                if is_fully_defined(data_shape[:batch_dims]):
+                    batch = [np.prod(data_shape[:batch_dims]).tolist()]
+                else:
+                    batch = [dynamic_dimension_value]
+            elif node['version'] == 'opset8':
+                for dim in range(batch_dims):
+                    assert compatible_dims(indices_shape[dim], data_shape[dim]),\
+                        "Batch dimensions in data.shape and indices.shape must be compatible"
+                if is_fully_defined(indices_shape[:batch_dims]):
+                    batch = indices_shape[:batch_dims].tolist()
+                elif is_fully_defined(data_shape[:batch_dims]):
+                    batch = data_shape[:batch_dims].tolist()
+                else:
+                    for ind in range(batch_dims):
+                        if indices_shape[ind] != dynamic_dimension_value:
+                            batch.append(indices_shape[ind])
+                        elif data_shape[ind] != dynamic_dimension_value:
+                            batch.append(data_shape[ind])
+                        else:
+                            batch.append(dynamic_dimension_value)
+
         slice_shape = list(data_shape[(batch_dims + indices_shape[-1]):])
-        output_shape = batch + list(indices_shape[batch_dims:-1]) + slice_shape
+
+        output_shape = batch + list(indices_shape)[batch_dims:-1] + slice_shape
         node.out_port(0).data.set_shape(output_shape)
 
-        # compute output value if all input values are defined
-        if is_fully_defined(indices_value) and is_fully_defined(data_value):
-            output_value = np.zeros(output_shape, dtype=data_value.dtype)
-            if batch_dims == 0:
-                output_indices_range = int64_array(indices_shape[:-1])
-                for output_index in np.ndindex(tuple(output_indices_range)):
-                    indices_tuple = indices_value[output_index]
-                    output_value[output_index] = data_value[tuple(indices_tuple.T)]
-            else:
-                batch_dims_range = int64_array(indices_shape[:batch_dims])
-                for batch_indices in np.ndindex(tuple(batch_dims_range)):
-                    # compute batch index in output tensor
-                    batch_ind = 0
-                    num_elements = 1
-                    for ind in reversed(range(len(batch_dims_range))):
-                        batch_ind += batch_indices[ind] * num_elements
-                        num_elements *= batch_dims_range[ind]
-                    output_indices_range = int64_array(indices_shape[batch_dims:-1])
-                    for output_index in np.ndindex(tuple(output_indices_range)):
-                        tmp_ind = batch_indices + output_index
-                        indices_tuple = tuple(indices_value[tmp_ind].T)
-                        full_input_ind = batch_indices + indices_tuple
-                        full_output_ind = tuple(np.array([batch_ind]).T) + output_index
-                        output_value[full_output_ind] = data_value[full_input_ind]
+        # compute output value if all input indices are defined
+        if is_fully_defined(indices_value) and data_value is not None:
+            batch_dims_size = 1
+
+            for i in range(batch_dims):
+                batch_dims_size *= indices_shape[i]
+
+            output_data = []
+
+            reshaped_indices = indices_value.reshape(batch_dims_size, -1, indices_shape[-1])
+
+            reshaped_data = data_value.reshape((batch_dims_size,) + tuple((data_shape[batch_dims:])))
+
+            for batch_dim in range(reshaped_indices.shape[0]):
+                for outer_dim in range(reshaped_indices.shape[1]):
+                    gather_index = tuple(reshaped_indices[batch_dim][outer_dim])
+                    output_data.append(reshaped_data[(batch_dim,) + gather_index])
+            output_value = np.asarray(output_data, dtype=data_value.dtype).reshape(output_shape)
             node.out_port(0).data.set_value(output_value)