def pointnet_fp_module(xyz1, xyz2, points1, points2, mlp, is_training, bn_decay, scope, bn=True,ibn=False):
''' PointNet Feature Propogation (FP) Module
Input:
xyz1: (batch_size, ndataset1, 3) TF tensor
xyz2: (batch_size, ndataset2, 3) TF tensor, sparser than xyz1
points1: (batch_size, ndataset1, nchannel1) TF tensor
points2: (batch_size, ndataset2, nchannel2) TF tensor
mlp: list of int32 -- output size for MLP on each point
Return:
new_points: (batch_size, ndataset1, mlp[-1]) TF tensor
'''
with tf.variable_scope(scope) as sc:
dist, idx = three_nn(xyz1, xyz2)
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum((1.0/dist),axis=2,keep_dims=True)
norm = tf.tile(norm,[1,1,3])
weight = (1.0/dist) / norm
interpolated_points = three_interpolate(points2, idx, weight)
if points1 is not None:
new_points1 = tf.concat(axis=2, values=[interpolated_points, points1]) # B,ndataset1,nchannel1+nchannel2
else:
new_points1 = interpolated_points
new_points1 = tf.expand_dims(new_points1, 2)
for i, num_out_channel in enumerate(mlp):
new_points1 = tf_util2.conv2d(new_points1, num_out_channel, [1,1],
padding='VALID', stride=[1,1],
bn=bn,is_training=is_training,
scope='conv_%d'%(i), bn_decay=bn_decay)
new_points1 = tf.squeeze(new_points1, [2]) # B,ndataset1,mlp[-1]
return new_points1
def test_grad(self):
with self.test_session():
points = tf.constant(
np.random.random((1, 8, 16)).astype('float32'))
print(points)
xyz1 = tf.constant(np.random.random((1, 128, 3)).astype('float32'))
xyz2 = tf.constant(np.random.random((1, 8, 3)).astype('float32'))
dist, idx = three_nn(xyz1, xyz2)
weight = tf.ones_like(dist) / 3.0
interpolated_points = three_interpolate(points, idx, weight)
print(interpolated_points)
err = tf.test.compute_gradient_error(points, (1, 8, 16),
interpolated_points,
(1, 128, 16))
print(err)
self.assertLess(err, 1e-4)
def fun(xyz1, xyz2, pts2):
with tf.device('/cpu:0'):
points = tf.constant(np.expand_dims(pts2, 0))
xyz1 = tf.constant(np.expand_dims(xyz1, 0))
xyz2 = tf.constant(np.expand_dims(xyz2, 0))
dist, idx = three_nn(xyz1, xyz2)
# weight = tf.ones_like(dist)/3.0
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum((1.0 / dist), axis=2, keep_dims=True)
norm = tf.tile(norm, [1, 1, 3])
print(norm)
weight = (1.0 / dist) / norm
interpolated_points = three_interpolate(points, idx, weight)
with tf.Session('') as sess:
tmp, pts1, d, w = sess.run([xyz1, interpolated_points, dist, weight])
# print w
pts1 = pts1.squeeze()
return pts1
def flex_conv_dilate(xyz,
feat,
dilate,
knn,
outdims,
scope,
knn_indices=None,
concat=True,
add_se='max_pool',
upsample=True,
**unused):
num_point = xyz.get_shape()[1]
npoint = num_point // dilate
with tf.variable_scope(scope) as sc:
if dilate > 1:
points_sampled, feat_sampled, kp_indices = subsample(xyz,
feat,
npoint,
kp_idx=None)
else:
points_sampled, feat_sampled = xyz, feat
feats_T = tf.transpose(feat_sampled, perm=[0, 2, 1])
points_T = tf.transpose(points_sampled, perm=[0, 2, 1])
if knn_indices is None: # B, knn, numpts
knn_indices, distances = knn_bruteforce(points_T, k=knn)
x = feats_T
for i, d in enumerate(outdims):
x = flexconv_withBatchnorm(x,
points_T,
knn_indices,
d,
name='flexconv_{}'.format(i))
if add_se == 'max_pool':
x_pool = flex_pooling(x, knn_indices, name='se_maxpool')
newx = se_res_bottleneck(x, x_pool, outdims[-1],
"se") # l: B, 64, N
elif add_se == 'avg_pool':
x_pool = flex_avg(x,
points_T,
knn_indices,
outdims[-1],
name='se_avgpool')
x_pool = x_pool * (1.0 / knn)
newx = se_res_bottleneck(x, x_pool, outdims[-1],
"se") # l: B, 64, N
else:
newx = x
new_feat = tf.transpose(newx, perm=[0, 2, 1]) # B, N, outdim
# upsampling
if upsample and dilate > 1:
dist, idx = three_nn(xyz, points_sampled)
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum((1.0 / dist), axis=2, keep_dims=True)
norm = tf.tile(norm, [1, 1, 3])
weight = (1.0 / dist) / norm
new_feat = three_interpolate(new_feat, idx, weight)
if concat:
new_feat = tf.concat(axis=2, values=[new_feat, feat])
new_feat = feature_conv1d_1(new_feat,
outdims[-1],
name='concat_conv1d',
c_last=True,
ac_func=BNReLU)
return xyz, new_feat
