def __init__(self, config, bn=True):
super(PointNet1d_SemSeg, self).__init__()
self.pointnet1d = PointNet1d(config)
nClasses = len(config['data_handling']['classes'])
width = 64 + 1024
self.conv512 = utils.Conv1d(width, 512, bn=bn, pool=False)
self.conv256 = utils.Conv1d(512, 256, bn=bn, pool=False)
self.conv128 = utils.Conv1d(256, 128, bn=bn, pool=False)
self.convclass = utils.Conv1d(128, nClasses, bn=False, pool=False)
def __init__(self, config, bn=False):
super(PointNet1d, self).__init__()
input_shape = config['data_handling']['image_shape']
assert (len(input_shape) == 2)
nPoints = input_shape[0]
nCoords = input_shape[1]
nClasses = len(config['data_handling']['classes'])
logger.debug('nPoints = %s, nCoords = %s, nClasses = %s', nPoints,
nCoords, nClasses)
self.input_trans = Transform1d(nPoints, nCoords, bn=bn)
self.input_to_feature = torch.nn.Sequential()
for x in config['model']['input_to_feature']:
N_in, N_out, pool = x
self.input_to_feature.add_module(
'conv_%d_to_%d' % (N_in, N_out),
utils.Conv1d(N_in, N_out, bn=bn, pool=pool))
#utils.Conv1d(nCoords,64,pool=False)
#utils.Conv1d(64,64,pool=False))
self.feature_trans = Transform1d(
nPoints, config['model']['input_to_feature'][-1][1], bn=bn)
self.feature_to_pool = torch.nn.Sequential()
for x in config['model']['feature_to_pool']:
N_in, N_out, pool = x
self.feature_to_pool.add_module(
'conv_%d_to_%d' % (N_in, N_out),
utils.Conv1d(N_in, N_out, bn=bn, pool=pool))
self.pool = torch.nn.MaxPool1d(nPoints)
self.dense_layers = torch.nn.Sequential()
for x in config['model']['dense_layers']:
N_in, N_out, dropout, bn, act = x
dr = int(dropout * 3)
if N_out is None:
N_out = nClasses
self.dense_layers.add_module(
'dense_%d_to_%d' % (N_in, N_out),
utils.Linear(N_in, N_out, bn=bn, activation=act))
if dropout > 0:
self.dense_layers.add_module('dropout_%03d' % dr,
torch.nn.Dropout(dropout))
def __init__(self, height, width, bn=False):
super(Transform1d, self).__init__()
self.width = width
self.conv64 = utils.Conv1d(width, 64, bn=bn, pool=False)
self.conv128 = utils.Conv1d(64, 128, bn=bn, pool=False)
self.conv1024 = utils.Conv1d(128, 1024, bn=bn, pool=False)
self.pool = torch.nn.MaxPool1d(height)
self.linear512 = utils.Linear(1024, 512, bn=bn)
self.linear256 = utils.Linear(512, 256, bn=bn)
self.linearK = torch.nn.Linear(256, width * width)
self.linearK.bias = torch.nn.Parameter(
torch.eye(width).view(width * width))