def splitting(self):
logger.info("splitting...")
encoder_states = self.precompute(id=None)
feats, points, values = encoder_states[
'voxel_vertex_idx'], encoder_states[
'voxel_center_xyz'], encoder_states['voxel_vertex_emb']
new_points, new_feats, new_values, new_keys = splitting_points(
points, feats, values, self.voxel_size / 2.0)
new_num_keys = new_keys.size(0)
new_point_length = new_points.size(0)
# set new voxel embeddings
if new_values is not None:
self.values.weight = nn.Parameter(new_values)
self.values.num_embeddings = self.values.weight.size(0)
self.total_size = new_num_keys
self.num_keys = self.num_keys * 0 + self.total_size
self.points = new_points
self.feats = new_feats
self.keep = self.keep.new_ones(new_point_length)
logger.info(
"splitting done. # of voxels before: {}, after: {} voxels".format(
points.size(0), self.keep.sum()))
def splitting(self):
logger.info("splitting...")
all_feats, all_points = [], []
for id in range(len(self.all_voxels)):
encoder_states = self.all_voxels[id].precompute(id=None)
feats = encoder_states['voxel_vertex_idx']
points = encoder_states['voxel_center_xyz']
values = encoder_states['voxel_vertex_emb']
all_feats.append(feats)
all_points.append(points)
feats, points = torch.cat(all_feats, 0), torch.cat(all_points, 0)
unique_feats, unique_idx = torch.unique(feats, dim=0, return_inverse=True)
unique_points = points[
unique_feats.new_zeros(unique_feats.size(0)).scatter_(
0, unique_idx, torch.arange(unique_idx.size(0), device=unique_feats.device)
)]
new_points, new_feats, new_values, new_keys = splitting_points(unique_points, unique_feats, values, self.voxel_size / 2.0)
new_num_keys = new_keys.size(0)
new_point_length = new_points.size(0)
# set new voxel embeddings (shared voxels)
if values is not None:
self.all_voxels[0].values.weight = nn.Parameter(new_values)
self.all_voxels[0].values.num_embeddings = new_num_keys
for id in range(len(self.all_voxels)):
self.all_voxels[id].total_size = new_num_keys
self.all_voxels[id].num_keys = self.all_voxels[id].num_keys * 0 + self.all_voxels[id].total_size
self.all_voxels[id].points = new_points
self.all_voxels[id].feats = new_feats
self.all_voxels[id].keep = self.all_voxels[id].keep.new_ones(new_point_length)
logger.info("splitting done. # of voxels before: {}, after: {} voxels".format(
unique_points.size(0), new_point_length))