def __init__(self,
Infea,
mlp,
dist,
nsample,
use_xyz=True,
use_feature=True,
npoint=280):
super(PointNetModule, self).__init__()
self.dist = dist
self.nsample = nsample
self.use_xyz = use_xyz
self.npoint = npoint
if Infea > 0:
use_feature = True
else:
use_feature = False
self.use_feature = use_feature
self.query_depth_point = QueryDepthPoint(dist, npoint)
if self.use_xyz:
self.conv1 = Conv2d(Infea + 3, mlp[0], 1)
else:
self.conv1 = Conv2d(Infea, mlp[0], 1)
self.conv2 = Conv2d(mlp[0], mlp[1], 1)
self.conv3 = Conv2d(mlp[1], mlp[2], 1)
init_params([self.conv1[0], self.conv2[0], self.conv3[0]],
'kaiming_normal')
init_params([self.conv1[1], self.conv2[1], self.conv3[1]], 1)
def __init__(self,
Infea,
mlp,
dist,
nsample,
use_xyz=True,
use_feature=True,
use_rgb=True):
super(PointNetModule, self).__init__()
self.dist = dist
self.nsample = nsample
self.use_xyz = use_xyz
self.use_rgb = use_rgb
self.use_feature = use_feature
self.query_depth_point = QueryDepthPoint(dist, nsample)
self.conv1 = Conv2d(3, mlp[0], 1)
self.conv2 = Conv2d(mlp[0], mlp[1], 1)
self.conv3 = Conv2d(mlp[1], mlp[2], 1)
self.econv1 = Conv2d(3, mlp[0], 1)
self.econv2 = Conv2d(mlp[0], mlp[1], 1)
self.econv3 = Conv2d(mlp[1], mlp[2], 1)
init_params([self.conv1[0], self.conv2[0], self.conv3[0]],
'kaiming_normal') ###
init_params([self.conv1[1], self.conv2[1], self.conv3[1]], 1) ###