def sample_and_group(npoint, nsample, xyz, points):
B, N, C = xyz.shape
S = npoint
# xyz = xyz.contiguous()
sampler = FurthestPointSampler(npoint)
_, fps_idx = sampler(xyz) # [B, npoint]
# print ('fps size=', fps_idx.size())
# fps_idx = sampler(xyz).long() # [B, npoint]
new_xyz = index_points(xyz, fps_idx)
new_points = index_points(points, fps_idx)
# new_xyz = xyz[:]
# new_points = points[:]
idx = knn_point(nsample, xyz, new_xyz)
#idx = query_ball_point(radius, nsample, xyz, new_xyz)
grouped_xyz = index_points(xyz, idx) # [B, npoint, nsample, C]
grouped_xyz_norm = grouped_xyz - new_xyz.view(B, S, 1, C)
grouped_points = index_points(points, idx)
grouped_points_norm = grouped_points - new_points.view(B, S, 1, -1)
new_points = concat([
grouped_points_norm,
new_points.view(B, S, 1, -1).repeat(1, 1, nsample, 1)
],
dim=-1)
return new_xyz, new_points
def __init__(self, C_in: int, C_out: int, dims: int, K: int, D: int,
P: int) -> None:
""" See documentation for PointCNN. """
super(RandPointCNN, self).__init__()
self.pointcnn = PointCNN(C_in, C_out, dims, K, D, P)
self.P = P
if self.P > 0:
self.sampler = FurthestPointSampler(self.P)
def __init__(self, n_points: int, radius: List[float], n_samples: List[int],
mlps: List[List[int]], bn=True, use_xyz=True):
super().__init__()
self.n_points = n_points
self.sampler = FurthestPointSampler(n_points)
self.groupers = nn.ModuleList()
for r, s in zip(radius, n_samples):
self.groupers.append(BallQueryGrouper(r, s, use_xyz))
self.mlps = nn.ModuleList()
for mlp in mlps.layers.items():
self.mlps.append(self.build_mlps(mlp, use_xyz))
def __init__(self, mlp: List[int], n_points=None, radius=None,
n_samples=None, bn=True, use_xyz=True):
super().__init__()
self.n_points = n_points
self.groupers = nn.ModuleList()
if self.n_points is not None:
self.sampler = FurthestPointSampler(n_points)
self.groupers.append(BallQueryGrouper(radius, n_samples, use_xyz))
else:
self.groupers.append(GroupAll(use_xyz))
self.mlps = nn.ModuleList()
self.mlps.append(self.build_mlps(mlp, use_xyz))