def multi_cls_head(self, *param):
if len(param) == 3:
return (pt_utils.Seq(param[0]).fc(
param[1], bn=True).dropout(0.5).fc(param[2], activation=None))
elif len(param) == 4:
return (pt_utils.Seq(param[0]).fc(
param[1],
bn=True).dropout(0.5).fc(param[2],
activation=nn.Softmax(param[3])))
raise ('Invaild length of param')
def __init__(self, num_classes, input_channels=3, use_xyz=True):
super(Pointnet2MSG, self).__init__()
self.SA_modules = nn.ModuleList()
self.SA_modules.append(
PointnetSAModuleMSG(npoint=512,
radii=[0.1, 0.2, 0.4],
nsamples=[16, 32, 128],
mlps=[[input_channels, 32, 32, 64],
[input_channels, 64, 64, 128],
[input_channels, 64, 96, 128]],
use_xyz=use_xyz))
input_channels = 64 + 128 + 128
self.SA_modules.append(
PointnetSAModuleMSG(npoint=128,
radii=[0.2, 0.4, 0.8],
nsamples=[32, 64, 128],
mlps=[[input_channels, 64, 64, 128],
[input_channels, 128, 128, 256],
[input_channels, 128, 128, 256]],
use_xyz=use_xyz))
self.SA_modules.append(
PointnetSAModule(mlp=[128 + 256 + 256, 256, 512, 1024],
use_xyz=use_xyz))
self.FC_layer = (pt_utils.Seq(1024) \
.fc(512, bn=True)
.dropout(0.5)
.fc(256, bn=True)
.dropout(0.5)
.fc(num_classes, activation=None))
def __init__(self, option, model_type, dataset, modules):
# call the initialization method of UnwrappedUnetBasedModel
UnwrappedUnetBasedModel.__init__(self, option, model_type, dataset,
modules)
self._num_classes = dataset.num_classes
self._weight_classes = dataset.weight_classes
self._use_category = option.use_category
if self._use_category:
if not dataset.class_to_segments:
raise ValueError(
"The dataset needs to specify a class_to_segments property when using category information for segmentation"
)
self._num_categories = len(dataset.class_to_segments.keys())
log.info(
"Using category information for the predictions with %i categories",
self._num_categories)
else:
self._num_categories = 0
# Last MLP
last_mlp_opt = option.mlp_cls
self.FC_layer = pt_utils.Seq(last_mlp_opt.nn[0] + self._num_categories)
for i in range(1, len(last_mlp_opt.nn)):
self.FC_layer.conv1d(last_mlp_opt.nn[i], bn=True)
if last_mlp_opt.dropout:
self.FC_layer.dropout(p=last_mlp_opt.dropout)
self.FC_layer.conv1d(self._num_classes, activation=None)
self.loss_names = ["loss_seg"]
def __init__(self, input_channels=3, use_xyz=True):
super(Pointnet2SSG, self).__init__()
print('network inital')
self.SA_modules = nn.ModuleList()
self.SA_modules.append(
PointnetSAModule1(
npoint=2048,
radius=0.01,
nsample=64,
mlp=[input_channels, 32, 32],
use_xyz=use_xyz,
))
self.SA_modules.append(
PointnetSAModule1(
npoint=512,
radius=0.12,
nsample=64,
mlp=[32, 64, 64],
use_xyz=use_xyz,
))
self.SA_modules.append(
PointnetSAModule1(mlp=[64, 256, 512], use_xyz=use_xyz))
self.Feat_layer = (
pt_utils.Seq(512)
# .fc(512, bn=True)#, activation=None
# .dropout(0.5)
.fc(512, bn=False, activation=None))
def __init__(self, num_classes, input_channels=3, use_xyz=True):
super(Pointnet2SSG, self).__init__()
self.SA_modules = nn.ModuleList()
self.SA_modules.append(
PointnetSAModule(
npoint=512,
radius=0.2,
nsample=64,
mlp=[input_channels, 64, 64, 128],
use_xyz=use_xyz,
))
self.SA_modules.append(
PointnetSAModule(
npoint=128,
radius=0.4,
nsample=64,
mlp=[128, 128, 128, 256],
use_xyz=use_xyz,
))
self.SA_modules.append(
PointnetSAModule(mlp=[256, 256, 512, 1024], use_xyz=use_xyz))
self.FC_layer = (pt_utils.Seq(1024).fc(512, bn=True).dropout(0.5).fc(
256, bn=True).dropout(0.5).fc(num_classes, activation=None))
def __init__(self, num_classes, input_channels=6, use_xyz=True):
super(Pointnet2MSG, self).__init__()
self.SA_modules = nn.ModuleList()
c_in = input_channels
self.SA_modules.append(
PointnetSAModuleMSG(
npoint=1024,
radii=[0.05, 0.1],
nsamples=[16, 32],
mlps=[[c_in, 16, 16, 32], [c_in, 32, 32, 64]],
use_xyz=use_xyz,
))
c_out_0 = 32 + 64
c_in = c_out_0
self.SA_modules.append(
PointnetSAModuleMSG(
npoint=256,
radii=[0.1, 0.2],
nsamples=[16, 32],
mlps=[[c_in, 64, 64, 128], [c_in, 64, 96, 128]],
use_xyz=use_xyz,
))
c_out_1 = 128 + 128
c_in = c_out_1
self.SA_modules.append(
PointnetSAModuleMSG(
npoint=64,
radii=[0.2, 0.4],
nsamples=[16, 32],
mlps=[[c_in, 128, 196, 256], [c_in, 128, 196, 256]],
use_xyz=use_xyz,
))
c_out_2 = 256 + 256
c_in = c_out_2
self.SA_modules.append(
PointnetSAModuleMSG(
npoint=16,
radii=[0.4, 0.8],
nsamples=[16, 32],
mlps=[[c_in, 256, 256, 512], [c_in, 256, 384, 512]],
use_xyz=use_xyz,
))
c_out_3 = 512 + 512
self.FP_modules = nn.ModuleList()
self.FP_modules.append(
PointnetFPModule(mlp=[256 + input_channels, 128, 128]))
self.FP_modules.append(PointnetFPModule(mlp=[512 + c_out_0, 256, 256]))
self.FP_modules.append(PointnetFPModule(mlp=[512 + c_out_1, 512, 512]))
self.FP_modules.append(
PointnetFPModule(mlp=[c_out_3 + c_out_2, 512, 512]))
self.FC_layer = (pt_utils.Seq(128).conv1d(
128, bn=True).dropout().conv1d(num_classes, activation=None))
def __init__(self, num_classes, input_channels=3, use_xyz=True):
super(Pointnet2MSG, self).__init__()
self.SA_modules = nn.ModuleList()
self.SA_modules.append(
PointnetSAModuleMSG2D(
npoint=1024,
radii=[1.0, 3.0],
nsamples=[8, 32],
mlps=[
[input_channels, 32, 32, 64],
[input_channels, 64, 64, 128],
],
use_xyz=use_xyz,
)
)
input_channels = 64 + 128 + 128
self.SA_modules.append(
PointnetSAModuleMSG2D(
npoint=512,
radii=[2.0, 4.0],
nsamples=[8, 32],
mlps=[
[input_channels, 32, 32, 64],
[input_channels, 64, 64, 128],
],
use_xyz=use_xyz,
)
)
self.SA_modules.append(
PointnetSAModuleMSG2D(
npoint=256,
radii=[3.0, 6.0],
nsamples=[16, 32],
mlps=[
[input_channels, 64, 64, 128],
[input_channels, 64, 64, 256],
],
use_xyz=use_xyz,
)
)
self.FP_modules = nn.ModuleList()
self.FP_modules.append(PointnetFPModule2D(mlp=[256, 256]))
self.FP_modules.append(PointnetFPModule2D(mlp=[128, 128]))
self.FP_modules.append(PointnetFPModule2D(mlp=[128, 128, 128]))
self.FC_layer = (
pt_utils.Seq(128)
.conv1d(256, bn=True)
.dropout(0.5)
.conv1d(128, bn=True)
.dropout(0.5)
.conv1d(num_classes, activation=None)
.softmax(num_classes)
)
def __init__(self, num_classes, input_channels=3, use_xyz=True):
super(Pointnet2SSG, self).__init__()
self.SA_modules = nn.ModuleList()
self.SA_modules.append(
PointnetSAModule(
npoint=1024,
radius=0.1,
nsample=32,
mlp=[input_channels, 32, 32, 64],
use_xyz=use_xyz,
)
)
self.SA_modules.append(
PointnetSAModule(
npoint=256,
radius=0.2,
nsample=32,
mlp=[64, 64, 64, 128],
use_xyz=use_xyz,
)
)
self.SA_modules.append(
PointnetSAModule(
npoint=64,
radius=0.4,
nsample=32,
mlp=[128, 128, 128, 256],
use_xyz=use_xyz,
)
)
self.SA_modules.append(
PointnetSAModule(
npoint=16,
radius=0.8,
nsample=32,
mlp=[256, 256, 256, 512],
use_xyz=use_xyz,
)
)
self.FP_modules = nn.ModuleList()
self.FP_modules.append(
PointnetFPModule(mlp=[128 + input_channels, 128, 128, 128])
)
self.FP_modules.append(PointnetFPModule(mlp=[256 + 64, 256, 128]))
self.FP_modules.append(PointnetFPModule(mlp=[256 + 128, 256, 256]))
self.FP_modules.append(PointnetFPModule(mlp=[512 + 256, 256, 256]))
self.FC_layer = (
pt_utils.Seq(128)
.conv1d(128, bn=True)
.dropout()
.conv1d(num_classes, activation=None)
)
def __init__(self, option, model_type, dataset, modules):
BackboneBasedModel.__init__(self, option, model_type, dataset, modules)
# Last MLP
last_mlp_opt = option.mlp_cls
self._dim_output = last_mlp_opt.nn[-1]
self.FC_layer = pt_utils.Seq(last_mlp_opt.nn[0])
for i in range(1, len(last_mlp_opt.nn)):
self.FC_layer.conv1d(last_mlp_opt.nn[i], bn=True)
self.loss_names = ["loss_patch_desc"]
def __init__(self, input_channels=3, use_xyz=True, objective=False):
super(Pointnet_Tracking, self).__init__()
self.backbone_net = Pointnet_Backbone(input_channels, use_xyz)
self.cosine = nn.CosineSimilarity(dim=1)
self.mlp = pt_utils.SharedMLP([4 + 256, 256, 256, 256], bn=True)
self.FC_layer_cla = (pt_utils.Seq(256).conv1d(256, bn=True).conv1d(
256, bn=True).conv1d(1, activation=None))
self.fea_layer = (pt_utils.Seq(256).conv1d(256, bn=True).conv1d(
256, activation=None))
self.vote_layer = (pt_utils.Seq(3 + 256).conv1d(256, bn=True).conv1d(
256, bn=True).conv1d(3 + 256, activation=None))
self.vote_aggregation = PointnetSAModule(radius=0.3,
nsample=16,
mlp=[1 + 256, 256, 256, 256],
use_xyz=use_xyz)
self.num_proposal = 64
self.FC_proposal = (pt_utils.Seq(256).conv1d(256, bn=True).conv1d(
256, bn=True).conv1d(3 + 1 + 1, activation=None))
def __init__(self, cfg, embedder, p_feature_dim, l_hidden_dim):
super(ReferModel, self).__init__()
self.p_feature_dim = p_feature_dim
self.l_hidden_dim = l_hidden_dim
self.language_module = LanguageModule(cfg, embedder)
self.backbone_net = PointNet2Backbone(
cfg,
input_feature_dim=self.p_feature_dim,
lang_hidden_dim=self.l_hidden_dim)
self.box_proposals_layers = nn.Sequential(
nn.Conv1d(in_channels=1024,
out_channels=512,
kernel_size=1,
stride=1),
#nn.BatchNorm1d(512),
#nn.Dropout(),
nn.ReLU(),
nn.Conv1d(in_channels=512,
out_channels=256,
kernel_size=1,
stride=1),
#nn.BatchNorm1d(256),
#nn.Dropout(),
nn.ReLU(),
nn.Conv1d(in_channels=256,
out_channels=128,
kernel_size=1,
stride=1),
#nn.BatchNorm1d(128),
#nn.Dropout(),
nn.ReLU(),
nn.Conv1d(in_channels=128, out_channels=6, kernel_size=1,
stride=1),
)
self.bbox_pred_layers = nn.Sequential(
nn.ReLU(),
nn.Linear(6 * 16, 7),
)
self.inst_seg_pred_layers = (
pt_utils.Seq(135).conv1d(135, bn=True)
# .dropout()
.conv1d(1, activation=None) # 0/1
)
def __init__(self, num_classes, input_channels=3, use_xyz=True):
super(Pointnet2SSGQPU, self).__init__()
self.SA_modules = nn.ModuleList()
self.SA_modules.append(
PointnetSAModuleQPU(
npoint=256,
radius=0.4,
nsample=32,
mlp=nn.Sequential(
qpu_layers.QPU(4*8, 64*4),
qpu_layers.KeepRealPart(dim=-1),
nn.Linear(64, 128)
),
use_xyz=use_xyz
)
)
self.SA_modules.append(
PointnetSAModule(
npoint=128,
radius=0.4,
nsample=16, # 64
# mlp=[32, 128],
mlp=[128, 128, 128, 256],
use_xyz=use_xyz
)
)
self.SA_modules.append(
PointnetSAModule(mlp=[256, 256, 512, 1024], use_xyz=use_xyz)
)
self.FC_layer = (
pt_utils.Seq(1024)
.fc(256, bn=True)
.dropout(0.5)
.fc(128, bn=True)
.dropout(0.5)
.fc(num_classes, activation=None)
)
def __init__(self,
num_classes,
input_channels=3,
use_xyz=True,
type_r='r'):
super(Pointnet2SSGQPU, self).__init__()
if type_r == 'no_r':
kp = qpu_layers.KeepImPart
temp_size = 64 * 3
else:
kp = qpu_layers.KeepRealPart
temp_size = 64 + 63 * ('inner' in type_r)
self.SA_modules = nn.ModuleList()
self.SA_modules.append(
PointnetSAModuleQPU(npoint=256,
radius=0.4,
nsample=32,
mlp=nn.Sequential(
qpu_layers.QPU(4 * 8, 64 * 4),
kp(dim=-1, type_r=type_r),
nn.Linear(temp_size, 128)),
use_xyz=use_xyz))
self.SA_modules.append(
PointnetSAModule(
npoint=128,
radius=0.4,
nsample=16, # 64
# mlp=[32, 128],
mlp=[128, 128, 128, 256],
use_xyz=use_xyz))
self.SA_modules.append(
PointnetSAModule(mlp=[256, 256, 512, 1024], use_xyz=use_xyz))
self.FC_layer = (pt_utils.Seq(1024).fc(256, bn=True).dropout(0.5).fc(
128, bn=True).dropout(0.5).fc(num_classes, activation=None))
def __init__(self, input_channels=3, use_xyz=True):
super(PCEncoder, self).__init__()
self.SA_modules = nn.ModuleList()
self.SA_modules.append(
PointnetSAModule(npoint=512,
radius=0.2,
nsample=64,
mlp=[input_channels, 64, 64, 128],
use_xyz=use_xyz,
bn=False))
self.SA_modules.append(
PointnetSAModule(npoint=128,
radius=0.4,
nsample=64,
mlp=[128, 128, 128, 256],
use_xyz=use_xyz,
bn=False))
self.SA_modules.append(
PointnetSAModule(mlp=[256, 256, 512, 1024],
use_xyz=use_xyz,
bn=False))
self.FC_layer = (pt_utils.Seq(1024).fc(256, bn=False, activation=None))
def regression_head(self, *param):
return (pt_utils.Seq(param[0]).fc(param[1], bn=True).dropout(0.5).fc(
param[2], activation=nn.Sigmoid()))
def __init__(self, num_classes, input_channels=37, use_xyz=True):
super(Pointnet2MSG, self).__init__()
self.scaling_factor = 4
self.SA_modules = nn.ModuleList()
c_in = input_channels
self.SA_modules.append(
PointnetSAModuleMSG(
npoint=int(512 / self.scaling_factor), # The number of groups
radii=[1, 3],
nsamples=[
int(8 / self.scaling_factor),
int(32 / self.scaling_factor)
], # The number of samples in each group
mlps=[[
c_in,
int(32 / self.scaling_factor),
int(32 / self.scaling_factor),
int(64 / self.scaling_factor)
],
[
c_in,
int(64 / self.scaling_factor),
int(64 / self.scaling_factor),
int(128 / self.scaling_factor)
]],
use_xyz=use_xyz,
))
c_out_1 = int(64 / self.scaling_factor) + int(
128 / self.scaling_factor) # 512 x c_out_1
c_in = c_out_1
self.SA_modules.append(
PointnetSAModuleMSG(
npoint=int(512 / self.scaling_factor),
radii=[2, 4],
nsamples=[
int(8 / self.scaling_factor),
int(32 / self.scaling_factor)
],
mlps=[[
c_in,
int(32 / self.scaling_factor),
int(32 / self.scaling_factor),
int(64 / self.scaling_factor)
],
[
c_in,
int(64 / self.scaling_factor),
int(64 / self.scaling_factor),
int(128 / self.scaling_factor)
]],
use_xyz=use_xyz,
))
c_out_2 = int(64 / self.scaling_factor) + int(
128 / self.scaling_factor) # 512 x c_out_
c_in = c_out_2
self.SA_modules.append(
PointnetSAModuleMSG(
npoint=int(256 / self.scaling_factor),
radii=[3, 6],
nsamples=[
int(16 / self.scaling_factor),
int(32 / self.scaling_factor)
],
mlps=[[
c_in,
int(64 / self.scaling_factor),
int(64 / self.scaling_factor),
int(128 / self.scaling_factor)
],
[
c_in,
int(64 / self.scaling_factor),
int(64 / self.scaling_factor),
int(128 / self.scaling_factor)
]],
use_xyz=use_xyz,
))
c_out_3 = int(128 / self.scaling_factor) + int(
128 / self.scaling_factor) # 256 x c_out_2
# c_in = c_out_2
# self.SA_modules.append(
# PointnetSAModuleMSG(
# npoint=16,
# radii=[0.4, 0.8],
# nsamples=[16, 32],
# mlps=[[c_in, 256, 256, 512], [c_in, 256, 384, 512]],
# use_xyz=use_xyz,
# )
# )
# c_out_3 = 512 + 512
self.FP_modules = nn.ModuleList()
self.FP_modules.append(
PointnetFPModule(mlp=[
int(128 / self.scaling_factor) + input_channels,
int(128 / self.scaling_factor),
int(128 / self.scaling_factor),
int(128 / self.scaling_factor)
]))
self.FP_modules.append(
PointnetFPModule(mlp=[
int(256 / self.scaling_factor) + c_out_1,
int(128 / self.scaling_factor),
int(128 / self.scaling_factor)
])
) # FP 2 from ___ FP1: (256, 256) ___ to another two-layer MLP with kernel
self.FP_modules.append(
PointnetFPModule(mlp=[
int(c_out_2 + c_out_3),
int(256 / self.scaling_factor),
int(256 / self.scaling_factor)
])
) # FP1 from last ___MSG: (256, c_out_2)___ to a two-layer MLP with kernel (256, 256)
self.FC_layer = (
pt_utils.Seq(int(128 / self.scaling_factor)) ### Input channels
.conv1d(int(256 / self.scaling_factor), bn=True) ### 1d Conv1
.dropout() ### default is 0.5
.conv1d(int(128 / self.scaling_factor)) ### 1d Conv2
.dropout().conv1d(num_classes, activation=None))
def __init__(self, input_channels=3, use_xyz=True, objective=False):
super(Pointnet_Tracking, self).__init__()
self.backbone_net = Pointnet_Backbone(input_channels, use_xyz)
self.cosine = nn.CosineSimilarity(dim=1)
self.mlp = pt_utils.SharedMLP([4 + 256, 256, 256, 256], bn=True)
# SharedMLP(
# (layer0): Conv2d(
# (conv): Conv2d(260, 256, kernel_size=(1, 1), stride=(1, 1), bias=False)
# (normlayer): BatchNorm2d(
# (bn): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
# )
# (activation): ReLU(inplace=True)
# )
# (layer1): Conv2d(
# (conv): Conv2d(256, 256, kernel_size=(1, 1), stride=(1, 1), bias=False)
# (normlayer): BatchNorm2d(
# (bn): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
# )
# (activation): ReLU(inplace=True)
# )
# (layer2): Conv2d(
# (conv): Conv2d(256, 256, kernel_size=(1, 1), stride=(1, 1), bias=False)
# (normlayer): BatchNorm2d(
# (bn): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
# )
# (activation): ReLU(inplace=True)
# )
# )
self.FC_layer_cla = (pt_utils.Seq(256).conv1d(256, bn=True).conv1d(
256, bn=True).conv1d(1, activation=None))
# Seq(
# (0): Conv1d(
# (conv): Conv1d(256, 256, kernel_size=(1,), stride=(1,), bias=False)
# (normlayer): BatchNorm1d(
# (bn): BatchNorm1d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
# )
# (activation): ReLU(inplace=True)
# )
# (1): Conv1d(
# (conv): Conv1d(256, 256, kernel_size=(1,), stride=(1,), bias=False)
# (normlayer): BatchNorm1d(
# (bn): BatchNorm1d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
# )
# (activation): ReLU(inplace=True)
# )
# (2): Conv1d(
# (conv): Conv1d(256, 1, kernel_size=(1,), stride=(1,))
# )
# )
self.fea_layer = (pt_utils.Seq(256).conv1d(256, bn=True).conv1d(
256, activation=None))
# Seq(
# (0): Conv1d(
# (conv): Conv1d(256, 256, kernel_size=(1,), stride=(1,), bias=False)
# (normlayer): BatchNorm1d(
# (bn): BatchNorm1d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
# )
# (activation): ReLU(inplace=True)
# )
# (1): Conv1d(
# (conv): Conv1d(256, 256, kernel_size=(1,), stride=(1,))
# )
# )
self.vote_layer = (pt_utils.Seq(3 + 256).conv1d(256, bn=True).conv1d(
256, bn=True).conv1d(3 + 256, activation=None))
# Seq(
# (0): Conv1d(
# (conv): Conv1d(259, 256, kernel_size=(1,), stride=(1,), bias=False)
# (normlayer): BatchNorm1d(
# (bn): BatchNorm1d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
# )
# (activation): ReLU(inplace=True)
# )
# (1): Conv1d(
# (conv): Conv1d(256, 256, kernel_size=(1,), stride=(1,), bias=False)
# (normlayer): BatchNorm1d(
# (bn): BatchNorm1d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
# )
# (activation): ReLU(inplace=True)
# )
# (2): Conv1d(
# (conv): Conv1d(256, 259, kernel_size=(1,), stride=(1,))
# )
# )
self.vote_aggregation = PointnetSAModule(
radius=0.3,
nsample=16,
mlp=[1 + 256, 256, 256, 256],
use_xyz=use_xyz) # 根据投票聚合投影候选中心点
# PointnetSAModule(
# (groupers): ModuleList(
# (0): QueryAndGroup()
# )
# (mlps): ModuleList(
# (0): SharedMLP(
# (layer0): Conv2d(
# (conv): Conv2d(260, 256, kernel_size=(1, 1), stride=(1, 1), bias=False)
# (normlayer): BatchNorm2d(
# (bn): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
# )
# (activation): ReLU(inplace=True)
# )
# (layer1): Conv2d(
# (conv): Conv2d(256, 256, kernel_size=(1, 1), stride=(1, 1), bias=False)
# (normlayer): BatchNorm2d(
# (bn): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
# )
# (activation): ReLU(inplace=True)
# )
# (layer2): Conv2d(
# (conv): Conv2d(256, 256, kernel_size=(1, 1), stride=(1, 1), bias=False)
# (normlayer): BatchNorm2d(
# (bn): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
# )
# (activation): ReLU(inplace=True)
# )
# )
# )
# )
self.num_proposal = 64 # 实际上是_PointnetSAModuleBase(nn.Module)的forward中的npoint输入参数
self.FC_proposal = (pt_utils.Seq(256).conv1d(256, bn=True).conv1d(
256, bn=True).conv1d(3 + 1 + 1, activation=None))
def set_last_mlp(self, last_mlp_opt):
self.FC_layer = pt_utils.Seq(last_mlp_opt.nn[0])
for i in range(1, len(last_mlp_opt.nn)):
self.FC_layer.conv1d(last_mlp_opt.nn[i], bn=True)