def forward(self, x, input_pts, return_features=False):
# x1, pts1 = self.cv1(x, input_pts, 16, 2048)
# x1 = F.relu(apply_bn(x1, self.bn1))
x2, pts2 = self.cv2(x, input_pts, 16, 1024)
x2 = F.relu(apply_bn(x2, self.bn2))
x3, pts3 = self.cv3(x2, pts2, 16, 256)
x3 = F.relu(apply_bn(x3, self.bn3))
x4, pts4 = self.cv4(x3, pts3, 8, 64)
x4 = F.relu(apply_bn(x4, self.bn4))
x5, pts5 = self.cv5(x4, pts4, 8, 16)
x5 = F.relu(apply_bn(x5, self.bn5))
x6, pts6 = self.cv6(x5, pts5, 4, 8)
x6 = F.relu(apply_bn(x6, self.bn6))
x5d, _ = self.cv5d(x6, pts6, 4, pts5)
x5d = F.relu(apply_bn(x5d, self.bn5d))
x5d = torch.cat([x5d, x5], dim=2)
x4d, _ = self.cv4d(x5d, pts5, 4, pts4)
x4d = F.relu(apply_bn(x4d, self.bn4d))
x4d = torch.cat([x4d, x4], dim=2)
x3d, _ = self.cv3d(x4d, pts4, 4, pts3)
x3d = F.relu(apply_bn(x3d, self.bn3d))
x3d = torch.cat([x3d, x3], dim=2)
x2d, _ = self.cv2d(x3d, pts3, 8, pts2)
x2d = F.relu(apply_bn(x2d, self.bn2d))
x2d = torch.cat([x2d, x2], dim=2)
x1d, _ = self.cv1d(x2d, pts2, 8, input_pts)
x1d = F.relu(apply_bn(x1d, self.bn1d))
# x1d = torch.cat([x1d, x1], dim=2)
# x0d, _ = self.cv0d(x1d, pts1, 8, input_pts)
# x0d = F.relu(apply_bn(x0d, self.bn0d))
xout = x1d
xout = xout.view(-1, xout.size(2))
xout = self.drop(xout)
xout = self.fcout(xout)
xout = xout.view(x.size(0), -1, xout.size(1))
if return_features:
return xout, x0d
else:
return xout
def forward(self, out1, out2, features1, features2, input_pts):
x = torch.cat([features1, features2], dim=2)
x1, _ = self.cv1(x, input_pts, 16, input_pts.size(1))
x1 = F.relu(apply_bn(x1, self.bn1))
x2, pts2 = self.cv2(x1, input_pts, 16, input_pts.size(1))
x2 = F.relu(apply_bn(x2, self.bn2))
xout = x2
xout = torch.cat([xout, out1, out2], dim=2)
xout = xout.view(-1, xout.size(2))
xou = self.drop(xout)
xout = self.fcout(xout)
xout = xout.view(x.size(0), -1, xout.size(1))
# return xout + out1 + out2
return xout #+ out1 + out2
def forward(self, x, input_pts):
x1, pts1 = self.cv1(x, input_pts, 32, 1024)
x1 = self.relu(apply_bn(x1, self.bn1))
x2, pts2 = self.cv2(x1, pts1, 32, 256)
x2 = self.relu(apply_bn(x2, self.bn2))
x3, pts3 = self.cv3(x2, pts2, 16, 64)
x3 = self.relu(apply_bn(x3, self.bn3))
x4, pts4 = self.cv4(x3, pts3, 16, 16)
x4 = self.relu(apply_bn(x4, self.bn4))
x5, _ = self.cv5(x4, pts4, 16, 1)
x5 = self.relu(apply_bn(x5, self.bn5))
xout = x5.view(x5.size(0), -1)
xout = self.dropout(xout)
xout = self.fcout(xout)
return xout