def testFarthestPointSamplerPadding(self):
points = tf.constant([
[[0, 1, 1], [1, 1, 1], [2, 1, 1], [3, 1, 1], [4, 1, 1], [5, 1, 1]],
[[0, 2, 1], [1, 2, 1], [2, 2, 1], [3, 2, 1], [4, 2, 1], [5, 2, 1]],
[[0, 2, 3], [1, 2, 3], [2, 2, 3], [3, 2, 3], [4, 2, 3], [5, 2, 3]],
[[0, 2, 1], [1, 2, 1], [2, 2, 1], [3, 2, 1], [4, 2, 1], [5, 2, 1]],
],
dtype=tf.float32)
padding = tf.constant([[0, 0, 0, 0, 1, 1], [0, 0, 1, 1, 0, 0],
[1, 1, 0, 0, 0, 0], [1, 0, 0, 0, 0, 1]],
dtype=tf.float32)
np_expected_selected_idx = np.array(
[[0, 1, 2, 3], [0, 1, 4, 5], [2, 3, 4, 5], [1, 2, 3, 4]],
dtype=np.int32)
num_points = 4
selected_idx, _ = car_lib.FarthestPointSampler(points, padding,
num_points)
with self.session():
np_selected_idx = self.evaluate(selected_idx)
np_selected_idx.sort(axis=1)
self.assertAllEqual(np_selected_idx, np_expected_selected_idx)
def testFarthestPointSamplerOnePoint(self):
points = tf.constant([
[[1, 1, 1, 1]],
[[2, 2, 2, 2]],
], dtype=tf.float32)
padding = tf.zeros((2, 1), dtype=tf.float32)
selected_idx, _ = car_lib.FarthestPointSampler(points, padding, 1)
with self.session() as sess:
selected_idx = sess.run(selected_idx)
self.assertAllEqual(selected_idx, [[0], [0]])
def testFarthestPointSamplerInsufficientPoints(self):
points = tf.constant([
[[0, 1, 1]],
[[2, 2, 2]],
], dtype=tf.float32)
padding = tf.zeros((2, 1), dtype=tf.float32)
with self.session() as sess:
with self.assertRaisesRegex(tf.errors.InvalidArgumentError,
r'.*Condition x >= y did not hold.*'):
sampled_idx, closest_idx = car_lib.FarthestPointSampler(
points, padding, 2)
sess.run((sampled_idx, closest_idx))
def _testPooling3D(self, pooling_fn):
num_points_in = 100
num_points_out = 10
batch_size = 8
num_features = 32
points = tf.random.uniform(shape=(batch_size, num_points_in, 3),
minval=-1,
maxval=1,
dtype=tf.float32)
# Note: This max pooling impl is incorrect if the feature range is negative.
features = tf.random.uniform(shape=(batch_size, num_points_in,
num_features),
minval=0,
maxval=1,
dtype=tf.float32)
padding = tf.zeros((batch_size, num_points_in), dtype=tf.float32)
pooling_idx, closest_idx = car_lib.FarthestPointSampler(
points, padding, num_points_out)
pooled_points, pooled_features = pooling_fn(points=points,
point_features=features,
pooling_idx=pooling_idx,
closest_idx=closest_idx)
with self.session():
[
np_points, np_features, np_pooling_idx, np_closest_idx,
np_pooled_points, np_pooled_features
] = self.evaluate([
points, features, pooling_idx, closest_idx, pooled_points,
pooled_features
])
for batch_n in range(batch_size):
# Grab the selected pooling points from our sampler to compare to
# the output of our pooling.
expected_pooled_pts = np_points[batch_n,
np_pooling_idx[batch_n, :], :]
self.assertAllClose(expected_pooled_pts,
np_pooled_points[batch_n, ...])
np_batch_features = np_features[batch_n, ...]
for idx in range(num_points_out):
in_group = np_closest_idx[batch_n, :] == idx
expected_max = np.max(np_batch_features[in_group], axis=0)
self.assertAllClose(expected_max,
np_pooled_features[batch_n, idx])
def testFarthestPointSamplerGatherPoints(self):
points = tf.constant([
[[0, 1, 1], [1, 1, 1], [2, 1, 1], [3, 1, 1], [4, 1, 1], [5, 1, 1]],
[[0, 2, 1], [1, 2, 1], [2, 2, 1], [3, 2, 1], [4, 2, 1], [5, 2, 1]],
[[0, 2, 3], [1, 2, 3], [2, 2, 3], [3, 2, 3], [4, 2, 3], [5, 2, 3]],
[[0, 2, 1], [1, 2, 1], [2, 2, 1], [3, 2, 1], [4, 2, 1], [5, 2, 1]],
], dtype=tf.float32) # pyformat: disable
padding = tf.zeros((4, 6), dtype=tf.float32)
n = 4
num_points = 3
selected_idx, _ = car_lib.FarthestPointSampler(points, padding, num_points)
gather_indices = tf.stack([
tf.tile(tf.expand_dims(tf.range(n), 1), [1, num_points]), selected_idx
],
axis=2)
sampled_points = tf.gather_nd(points, gather_indices)
with self.session() as sess:
sampled_points = sess.run(sampled_points)
self.assertEqual(sampled_points.shape, (n, num_points, 3))
def testFarthestPointSamplerSeeded(self):
points = tf.constant([
[[0, 1, 1], [1, 1, 1], [2, 1, 1], [3, 1, 1], [4, 1, 1], [5, 1, 1]],
[[0, 2, 1], [1, 2, 1], [2, 2, 1], [3, 2, 1], [4, 2, 1], [5, 2, 1]],
[[0, 2, 3], [1, 2, 3], [2, 2, 3], [3, 2, 3], [4, 2, 3], [5, 2, 3]],
[[0, 2, 1], [1, 2, 1], [2, 2, 1], [3, 2, 1], [4, 2, 1], [5, 2, 1]],
], dtype=tf.float32) # pyformat: disable
padding = tf.zeros((4, 6), dtype=tf.float32)
selected_idx, closest_idx = car_lib.FarthestPointSampler(
points, padding, 3, num_seeded_points=2)
with self.session() as sess:
selected_idx, closest_idx = sess.run([selected_idx, closest_idx])
# First two selected points are seeded.
self.assertTrue(np.all(selected_idx[:, 0] == 0))
self.assertTrue(np.all(selected_idx[:, 1] == 1))
# Third point is the last point since it's farthest.
self.assertTrue(np.all(selected_idx[:, 2] == 5))
# Closest indices should either be 0, 1 or 2 since we picked 3 points.
self.assertTrue(
np.all((closest_idx >= 0) & (closest_idx < 3)),
msg='Closest index must be among selected indices.')
def testFarthestPointSamplerSelectMinMax(self):
points = tf.constant([
[[0, 1, 1], [1, 1, 1], [2, 1, 1], [3, 1, 1], [4, 1, 1], [5, 1, 1]],
[[0, 2, 1], [1, 2, 1], [2, 2, 1], [3, 2, 1], [4, 2, 1], [5, 2, 1]],
[[0, 2, 3], [1, 2, 3], [2, 2, 3], [3, 2, 3], [4, 2, 3], [5, 2, 3]],
[[0, 2, 1], [1, 2, 1], [2, 2, 1], [3, 2, 1], [4, 2, 1], [5, 2, 1]],
], dtype=tf.float32) # pyformat: disable
padding = tf.zeros((4, 6), dtype=tf.float32)
selected_idx, closest_idx = car_lib.FarthestPointSampler(points, padding, 2)
with self.session() as sess:
selected_idx, closest_idx = sess.run([selected_idx, closest_idx])
for batch_idx in range(4):
self.assertIn(
selected_idx[batch_idx, 1], [0, 5],
msg=('The second selected point must be one of the end '
'points corresponding to index 0 or 5.'))
# Closest indices should either be 0 or 1 since we picked 2 points.
self.assertTrue(
np.all((closest_idx >= 0) & (closest_idx < 2)),
msg='Closest index must be among selected indices.')
def testFarthestPointSamplerAllPoints(self):
points = tf.constant([
[[0, 1, 1], [1, 1, 1], [2, 1, 1], [3, 1, 1], [4, 1, 1], [5, 1, 1]],
[[0, 2, 1], [1, 2, 1], [2, 2, 1], [3, 2, 1], [4, 2, 1], [5, 2, 1]],
[[0, 2, 3], [1, 2, 3], [2, 2, 3], [3, 2, 3], [4, 2, 3], [5, 2, 3]],
[[0, 2, 1], [1, 2, 1], [2, 2, 1], [3, 2, 1], [4, 2, 1], [5, 2, 1]],
],
dtype=tf.float32) # pyformat: disable
padding = tf.zeros((4, 6), dtype=tf.float32)
sampled_idx, closest_idx = car_lib.FarthestPointSampler(
points, padding, 6)
with self.session():
sampled_idx, closest_idx = self.evaluate(
[sampled_idx, closest_idx])
for batch_n in range(4):
self.assertSetEqual(set(sampled_idx[batch_n, :]),
set(np.arange(6)),
msg='All points should be selected.')
for point_idx in range(6):
# For each selected point in sampled_idx, we verify that the
# closest_idx assigned to that point matches itself. This is done by
# finding the location of the point in sampled_idx (which is shuffled
# during sampling). The value of the point in closest_idx should match
# the index assigned to the point in sampled_idx.
expected_closest_idx = None
# location refers to the index where the point appears in sampled_idx.
# This should be what closest_idx refers to.
for location, sample_idx in enumerate(
sampled_idx[batch_n, :]):
if point_idx == sample_idx:
expected_closest_idx = location
break
self.assertIsNotNone(
expected_closest_idx,
'Point not found in sampled_idx result.')
self.assertEqual(
closest_idx[batch_n][point_idx],
expected_closest_idx,
msg='Closest index should be the point itself.')
def FProp(self, theta, input_data):
"""Apply projection to inputs.
Args:
theta: A NestedMap object containing weights' values of this layer and its
children layers.
input_data: A NestedMap object containing 'points', 'features', 'padding'
Tensors, all of type tf.float32.
'points': Shape [N, P1, 3]
'features': Shape [N, P1, F]
'padding': Shape [N, P1] where 0 indicates real, 1 indicates padded.
Returns:
A NestedMap consisting of the following two NestedMaps,
grouped_points: consists of the grouped points, features and padding.
query_points: consists of the sampled points and padding.
"""
p = self.params
features = input_data.features
n, p1, c = py_utils.GetShape(features)
points = py_utils.HasShape(input_data.points, [n, p1, 3])
padding = py_utils.HasShape(input_data.padding, [n, p1])
# Sampling
sampled_idx, _ = car_lib.FarthestPointSampler(
points, padding, num_sampled_points=p.num_samples)
query_points = car_lib.MatmulGather(points,
tf.expand_dims(sampled_idx, -1))
query_points = tf.squeeze(query_points, -2)
# Grouping
grouped_idx, grouped_padding = car_lib.NeighborhoodIndices(
points,
query_points,
p.group_size,
points_padding=padding,
max_distance=p.ball_radius,
sample_neighbors_uniformly=p.sample_neighbors_uniformly)
grouped_points = car_lib.MatmulGather(points, grouped_idx)
# Normalize the grouped points based on the location of the query point.
grouped_points -= tf.expand_dims(query_points, -2)
grouped_features = car_lib.MatmulGather(features, grouped_idx)
# Get the padding for the query points.
query_padding = tf.batch_gather(padding, sampled_idx)
# Verify the shapes of output tensors.
query_points = py_utils.HasShape(query_points, [n, p.num_samples, 3])
query_padding = py_utils.HasShape(query_padding, [n, p.num_samples])
grouped_features = py_utils.HasShape(
grouped_features, [n, p.num_samples, p.group_size, c])
grouped_padding = py_utils.HasShape(grouped_padding,
[n, p.num_samples, p.group_size])
output_grouped_points = py_utils.NestedMap(points=grouped_points,
features=grouped_features,
padding=grouped_padding)
output_query = py_utils.NestedMap(points=query_points,
padding=query_padding)
output_map = py_utils.NestedMap({
'grouped_points': output_grouped_points,
'query_points': output_query
})
return output_map