def normal_est_net(grid_fisher, bn_decay, is_training, weight_decay, scope_str):
#CNN architecture - adjust architecture to number of gaussians (currently supports only 8 x 8 x 8)
batch_size = grid_fisher.get_shape()[0].value
layer = 1
net = inception_module(grid_fisher, n_filters=128, kernel_sizes=[3, 5], is_training=is_training,
bn_decay=bn_decay, scope='inception' + str(layer) + scope_str)
layer = layer + 1
net = inception_module(net, n_filters=256, kernel_sizes=[3, 5], is_training=is_training, bn_decay=bn_decay,
scope='inception' + str(layer) + scope_str)
layer = layer + 1
net = inception_module(net, n_filters=256, kernel_sizes=[3, 5], is_training=is_training, bn_decay=bn_decay,
scope='inception' + str(layer) + scope_str)
layer = layer + 1
net = tf_util.max_pool3d(net, [2, 2, 2], scope='maxpool' + str(layer) + scope_str, stride=[2, 2, 2], padding='SAME')
layer = layer + 1
net = inception_module(net, n_filters=512, kernel_sizes=[3, 5], is_training=is_training, bn_decay=bn_decay,
scope='inception' + str(layer) + scope_str)
layer = layer + 1
net = inception_module(net, n_filters=512, kernel_sizes=[3, 5], is_training=is_training, bn_decay=bn_decay,
scope='inception' + str(layer) + scope_str)
layer = layer + 1
net = tf_util.max_pool3d(net, [2, 2, 2], scope='maxpool' + str(layer) + scope_str, stride=[2, 2, 2], padding='SAME')
global_feature = tf.reshape(net, [batch_size, -1])
# FC architectrure - normal estiamation network
net = tf_util.fully_connected(global_feature, 1024, bn=True, is_training=is_training,
scope='fc1' + scope_str, bn_decay=bn_decay, weigth_decay=weight_decay)
net = tf_util.fully_connected(net, 256, bn=True, is_training=is_training,
scope='fc2' + scope_str, bn_decay=bn_decay, weigth_decay=weight_decay)
net = tf_util.fully_connected(net, 128, bn=True, is_training=is_training,
scope='fc3' + scope_str, bn_decay=bn_decay, weigth_decay=weight_decay)
net = tf_util.fully_connected(net, 3, activation_fn=None, scope='fc4' + scope_str, is_training=is_training,
weigth_decay=weight_decay)
net = tf.squeeze(net)
return net
def get_model(sequence, is_training, num_classes=10, bn_decay=0.999, weight_decay=0.0001, sn=4, pool_t=False, pool_first=False, freeze_bn=False):
""" sequence Net, input is BxTxHxWx3, output Bx400 """
bsize = sequence.get_shape()[0].value
end_points = {}
channel_stride = [(64, 1), (128, 2), (256, 2), (512, 2)]
# res block options
num_blocks = [2, 2, 2, 2]
topks = [None, sn, sn, None]
shrink_ratios = [None, 2, None, None]
net = tf_util.conv3d(sequence, 64, [1, 3, 3], stride=[1, 2 if pool_first else 1, 2 if pool_first else 1], bn=True, bn_decay=bn_decay, is_training=is_training, weight_decay=weight_decay, freeze_bn=freeze_bn, scope='conv0')
net = tf_util.max_pool3d(net, [1, 3, 3], stride=[1, 2, 2], scope='pool0', padding='SAME')
for gp, cs in enumerate(channel_stride):
n_channels = cs[0]
stride = cs[1]
with tf.variable_scope('group{}'.format(gp)):
for i in range(num_blocks[gp]):
with tf.variable_scope('block{}'.format(i)):
end_points['res{}_{}_in'.format(gp, i)] = net
if i == 0:
net_bra = tf_util.conv3d(net, n_channels, [1, 3, 3], stride=[1, stride, stride], bn=True, bn_decay=bn_decay, \
is_training=is_training, weight_decay=weight_decay, freeze_bn=freeze_bn, scope='conv1')
else:
net_bra = tf_util.conv3d(net, n_channels, [1, 3, 3], stride=[1, 1, 1], bn=True, bn_decay=bn_decay, \
is_training=is_training, weight_decay=weight_decay, freeze_bn=freeze_bn, scope='conv1')
net_bra = tf_util.conv3d(net_bra, n_channels, [1, 3, 3], stride=[1, 1, 1], bn=True, bn_decay=bn_decay, \
is_training=is_training, activation_fn=None, weight_decay=weight_decay, freeze_bn=freeze_bn, scope='conv2')
if net.get_shape()[-1].value != n_channels:
net = tf_util.conv3d(net, n_channels, [1, 1, 1], stride=[1, stride, stride], bn=True, bn_decay=bn_decay, \
is_training=is_training, activation_fn=None, weight_decay=weight_decay, freeze_bn=freeze_bn, scope='convshortcut')
net = net + net_bra
end_points['res{}_{}_mid'.format(gp, i)] = net
if topks[gp] is not None:
c = net.get_shape()[-1].value
net_pointnet, end_point = net_utils.senot_module(net, k=topks[gp], mlp=[c//4,c//2], scope='pointnet', is_training=is_training, bn_decay=bn_decay, \
weight_decay=weight_decay, distance='l2', activation_fn=None, freeze_bn=freeze_bn, shrink_ratio=shrink_ratios[gp])
net += net_pointnet
end_points['pointnet{}_{}'.format(gp, i)] = end_point
end_points['after_pointnet{}_{}'.format(gp, i)] = net
net = tf.nn.relu(net)
end_points['res{}_{}_out'.format(gp, i)] = net
net = tf.reduce_mean(net, [1,2,3])
net = tf_util.dropout(net, keep_prob=0.5, is_training=is_training, scope='dp')
net = tf_util.fully_connected(net, num_classes, activation_fn=None, weight_decay=weight_decay, scope='fc')
return net, end_points
def noise_est_net(grid_fisher, bn_decay, is_training, weight_decay, scope_str):
batch_size = grid_fisher.get_shape()[0].value
layer = 1
net = inception_module(grid_fisher, n_filters=128, kernel_sizes=[3, 5], is_training=is_training,
bn_decay=bn_decay, scope='inception' + str(layer) + scope_str)
layer = layer + 1
net = inception_module(net, n_filters=256, kernel_sizes=[3, 5], is_training=is_training, bn_decay=bn_decay,
scope='inception' + str(layer) + scope_str)
layer = layer + 1
net = inception_module(net, n_filters=256, kernel_sizes=[3, 5], is_training=is_training, bn_decay=bn_decay,
scope='inception' + str(layer) + scope_str)
layer = layer + 1
net = tf_util.max_pool3d(net, [2, 2, 2], scope='maxpool' + str(layer) + scope_str, stride=[2, 2, 2], padding='SAME')
layer = layer + 1
net = inception_module(net, n_filters=512, kernel_sizes=[3, 5], is_training=is_training, bn_decay=bn_decay,
scope='inception' + str(layer) + scope_str)
layer = layer + 1
net = inception_module(net, n_filters=512, kernel_sizes=[3, 5], is_training=is_training, bn_decay=bn_decay,
scope='inception' + str(layer) + scope_str)
layer = layer + 1
net = tf_util.max_pool3d(net, [2, 2, 2], scope='maxpool' + str(layer) + scope_str, stride=[2, 2, 2], padding='SAME')
global_feature = tf.reshape(net, [batch_size, -1])
# normal estiamation network
net = tf_util.fully_connected(global_feature, 1024, bn=True, is_training=is_training,
scope='fc1' + scope_str, bn_decay=bn_decay, weigth_decay=weight_decay)
net = tf_util.fully_connected(net, 256, bn=True, is_training=is_training,
scope='fc2' + scope_str, bn_decay=bn_decay, weigth_decay=weight_decay)
net = tf_util.fully_connected(net, 128, bn=True, is_training=is_training,
scope='fc3' + scope_str, bn_decay=bn_decay, weigth_decay=weight_decay)
net = tf_util.fully_connected(net, 1, activation_fn=tf.nn.relu, scope='fc4' + scope_str, is_training=is_training,
weigth_decay=weight_decay)
net = tf.squeeze(net)
return net
def get_model(point_cloud, is_training, bn_decay=None):
""" Classification PointNet, input is BxNx3, output Bx40 """
batch_size = point_cloud.get_shape()[0].value
# vx = point_cloud.get_shape()[1].value
# vy = point_cloud.get_shape()[2].value
# vz = point_cloud.get_shape()[3].value
end_points = {}
input_image = tf.expand_dims(point_cloud, -1)
net = tf_util.conv3d(input_image,
32, [5, 5, 5],
scope='conv1',
stride=[2, 2, 2],
bn=True,
is_training=is_training,
padding='SAME',
bn_decay=bn_decay)
net = tf_util.conv3d(net,
32, [3, 3, 3],
scope='conv2',
stride=[2, 2, 2],
bn=True,
is_training=is_training,
padding='SAME',
bn_decay=bn_decay)
# Symmetric function: max pooling
net = tf_util.max_pool3d(net, [2, 2, 2], padding='VALID', scope='maxpool')
# MLP on global point cloud vector
net = tf.reshape(net, [batch_size, -1])
net = tf_util.fully_connected(net,
128,
bn=True,
is_training=is_training,
scope='fc1',
bn_decay=bn_decay)
net = tf_util.dropout(net,
keep_prob=0.5,
is_training=is_training,
scope='dp1')
net = tf_util.fully_connected(net, 10, activation_fn=None, scope='fc2')
return net, end_points
def get_model(points, w, mu, sigma, is_training, bn_decay=None, weigth_decay=0.005, add_noise=False, num_classes=40):
""" Classification PointNet, input is BxNx3, output Bx40 """
batch_size = points.get_shape()[0].value
n_points = points.get_shape()[1].value
n_gaussians = w.shape[0].value
res = int(np.round(np.power(n_gaussians,1.0/3.0)))
fv = tf_util.get_fv_minmax(points, w, mu, sigma, flatten=False)
if add_noise:
noise = tf.cond(is_training,
lambda: tf.random_normal(shape=tf.shape(fv), mean=0.0, stddev=0.01, dtype=tf.float32),
lambda: tf.zeros(shape=tf.shape(fv)))
#noise = tf.random_normal(shape=tf.shape(fv), mean=0.0, stddev=0.01, dtype=tf.float32)
fv = fv + noise
grid_fisher = tf.reshape(fv, [batch_size, -1, res, res, res])
grid_fisher = tf.transpose(grid_fisher, [0, 2, 3, 4, 1])
#3D Voxenet with pfv
layer = 1
net = tf_util.conv3d(grid_fisher, 32, [5, 5, 5], scope='conv'+str(layer),
stride=[2, 2, 2], padding='SAME', bn=True,
bn_decay=bn_decay, is_training=is_training)
layer = layer + 1
net = tf_util.conv3d(net, 32, [3, 3, 3], scope='conv'+str(layer),
stride=[1, 1, 1], padding='SAME', bn=True,
bn_decay=bn_decay, is_training=is_training)
layer = layer + 1
net = tf_util.max_pool3d(net, [2, 2, 2], scope='maxpool'+str(layer), stride=[2, 2, 2], padding='SAME')
net = tf.reshape(net,[batch_size, -1])
#Classifier
net = tf_util.fully_connected(net, 128, bn=True, is_training=is_training,
scope='fc1', bn_decay=bn_decay, weigth_decay=weigth_decay)
net = tf_util.dropout(net, keep_prob=0.7, is_training=is_training,
scope='dp1')
net = tf_util.fully_connected(net, num_classes, activation_fn=None, scope='fc4', is_training=is_training, weigth_decay=weigth_decay)
return net, fv
def get_model(source_point_cloud,
template_point_cloud,
is_training,
bn_decay=None):
point_cloud = tf.concat([source_point_cloud, template_point_cloud], 0)
batch_size = point_cloud.get_shape()[0].value
num_point = point_cloud.get_shape()[1].value
end_points = {}
input_image = tf.expand_dims(point_cloud, -1)
net = tf_util.conv3d(input_image,
32, [5, 5, 5],
padding='VALID',
stride=[2, 2, 2],
bn=False,
is_training=is_training,
scope='conv1',
bn_decay=bn_decay)
net = tf_util.conv3d(net,
32, [3, 3, 3],
padding='VALID',
stride=[1, 1, 1],
bn=False,
is_training=is_training,
scope='conv2',
bn_decay=bn_decay)
# Symmetric function: max pooling
net = tf_util.max_pool3d(net, [2, 2, 2], padding='VALID', scope='maxpool')
net = tf.reshape(net, [batch_size, -1])
print(net)
source_global_feature = tf.slice(net, [0, 0], [int(batch_size / 2), 6912])
template_global_feature = tf.slice(net, [int(batch_size / 2), 0],
[int(batch_size / 2), 6912])
return source_global_feature, template_global_feature
def get_model(points,
w,
mu,
sigma,
is_training,
bn_decay=None,
weigth_decay=0.005,
add_noise=False,
num_classes=40):
""" Classification PointNet, input is BxNx3, output Bx40 """
batch_size = points.get_shape()[0].value
n_points = points.get_shape()[1].value
n_gaussians = w.shape[0].value
res = int(np.round(np.power(n_gaussians, 1.0 / 3.0)))
end_points = {}
fv = tf_util.get_3dmfv(points, w, mu, sigma, flatten=False)
if add_noise:
noise = tf.cond(
is_training, lambda: tf.random_normal(
shape=tf.shape(fv), mean=0.0, stddev=0.01, dtype=tf.float32),
lambda: tf.zeros(shape=tf.shape(fv)))
#noise = tf.random_normal(shape=tf.shape(fv), mean=0.0, stddev=0.01, dtype=tf.float32)
fv = fv + noise
grid_fisher = tf.reshape(fv, [batch_size, -1, res, res, res])
grid_fisher = tf.transpose(grid_fisher, [0, 2, 3, 4, 1])
# Inception
layer = 1
net = inception_module(grid_fisher,
n_filters=64,
kernel_sizes=[3, 5],
is_training=is_training,
bn_decay=bn_decay,
scope='inception' + str(layer))
layer = layer + 1
net = inception_module(net,
n_filters=128,
kernel_sizes=[3, 5],
is_training=is_training,
bn_decay=bn_decay,
scope='inception' + str(layer))
layer = layer + 1
net = inception_module(net,
n_filters=256,
kernel_sizes=[3, 5],
is_training=is_training,
bn_decay=bn_decay,
scope='inception' + str(layer))
layer = layer + 1
net = tf_util.max_pool3d(net, [2, 2, 2],
scope='maxpool' + str(layer),
stride=[2, 2, 2],
padding='SAME')
layer = layer + 1
net = inception_module(net,
n_filters=256,
kernel_sizes=[3, 5],
is_training=is_training,
bn_decay=bn_decay,
scope='inception' + str(layer))
layer = layer + 1
net = inception_module(net,
n_filters=512,
kernel_sizes=[3, 5],
is_training=is_training,
bn_decay=bn_decay,
scope='inception' + str(layer))
layer = layer + 1
net = tf_util.max_pool3d(net, [2, 2, 2],
scope='maxpool' + str(layer),
stride=[2, 2, 2],
padding='SAME')
net = tf.reshape(net, [batch_size, -1])
#Classifier
net = tf_util.fully_connected(net,
1024,
bn=True,
is_training=is_training,
scope='fc1',
bn_decay=bn_decay,
weigth_decay=weigth_decay)
net = tf_util.dropout(net,
keep_prob=0.7,
is_training=is_training,
scope='dp1')
net = tf_util.fully_connected(net,
256,
bn=True,
is_training=is_training,
scope='fc2',
bn_decay=bn_decay,
weigth_decay=weigth_decay)
net = tf_util.dropout(net,
keep_prob=0.7,
is_training=is_training,
scope='dp2')
net = tf_util.fully_connected(net,
128,
bn=True,
is_training=is_training,
scope='fc3',
bn_decay=bn_decay,
weigth_decay=weigth_decay)
net = tf_util.dropout(net,
keep_prob=0.7,
is_training=is_training,
scope='dp3')
net = tf_util.fully_connected(net,
num_classes,
activation_fn=None,
scope='fc4',
is_training=is_training,
weigth_decay=weigth_decay)
end_points['Logits'] = net
end_points['Probabilities'] = tf.nn.softmax(net, name='Probabilities')
return net, end_points
def get_model(point_cloud, input_label, is_training, cat_num, part_num, \
batch_size, num_point, weight_decay, bn_decay=None):
""" ConvNet baseline, input is BxNx3 gray image """
end_points = {}
KNN = 12
with tf.variable_scope('transform_net1') as sc:
K = 3
transform = get_transform(point_cloud, is_training, bn_decay, K=3)
point_cloud_transformed = tf.matmul(point_cloud, transform)
# KNN search
knn_point = KNN_search(point_cloud_transformed,
KNN=KNN,
name_scope='KNN_search') # 32 x 1024 x KNN x 3
knn_point = tf.expand_dims(knn_point, axis=-1) # 32 x 1024 x KNN x 3 x 1
point_cloud_transformed = tf.expand_dims(point_cloud_transformed, axis=-1)
out0 = tf_util.conv2d(point_cloud_transformed,
64, [1, 3],
padding='VALID',
stride=[1, 1],
bn=True,
is_training=is_training,
scope='conv',
bn_decay=bn_decay) # 32 x 1024 x 1 x 64
out0_tile = tf.tile(out0, multiples=[1, 1, KNN, 1]) # 32 x 1024 x 16 x 64
out0_tile = tf.expand_dims(out0_tile, axis=-2)
out1 = tf_util.conv3d(knn_point,
64, [1, 1, 3],
padding='VALID',
stride=[1, 1, 1],
bn=True,
is_training=is_training,
scope='conv1',
bn_decay=bn_decay)
concat = tf.concat(values=[out1, out0_tile], axis=-1)
out2 = tf_util.conv3d(concat,
128, [1, 1, 1],
padding='VALID',
stride=[1, 1, 1],
bn=True,
is_training=is_training,
scope='conv2',
bn_decay=bn_decay)
out3 = tf_util.conv3d(out2,
128, [1, 1, 1],
padding='VALID',
stride=[1, 1, 1],
bn=True,
is_training=is_training,
scope='conv3',
bn_decay=bn_decay)
pool_k = tf_util.max_pool3d(out3,
kernel_size=[1, KNN, 1],
stride=[1, 2, 2],
padding='VALID',
scope='pool_k') # 32 x 1024 x 1 x 1 x 128
pool_k = tf.squeeze(pool_k, axis=2)
# VLAD layer
vlad_out, index = VLAD(pool_k,
16,
is_training,
bn_decay,
layer_name='VLAD')
out4 = tf_util.conv2d(vlad_out,
512, [1, 1],
padding='VALID',
stride=[1, 1],
bn=True,
is_training=is_training,
scope='vlad_conv3',
bn_decay=bn_decay)
out5 = tf_util.conv2d(out4,
2048, [1, 1],
padding='VALID',
stride=[1, 1],
bn=True,
is_training=is_training,
scope='vlad_conv4',
bn_decay=bn_decay)
out_max = tf.nn.max_pool(out5,
ksize=[1, num_point, 1, 1],
strides=[1, 2, 2, 1],
padding='VALID') # 32 x 1 x 1 x 1024
# classification network
net = tf.reshape(out_max, [batch_size, -1]) # 32 x 1 x 1024
net = tf_util.fully_connected(net,
256,
bn=True,
is_training=is_training,
scope='cla/fc1',
bn_decay=bn_decay)
net = tf_util.fully_connected(net,
256,
bn=True,
is_training=is_training,
scope='cla/fc2',
bn_decay=bn_decay)
net = tf_util.dropout(net,
keep_prob=0.7,
is_training=is_training,
scope='cla/dp1')
net = tf_util.fully_connected(net,
cat_num,
activation_fn=None,
scope='cla/fc3')
# segmentation network
one_hot_label_expand = tf.reshape(input_label, [batch_size, 1, 1, cat_num])
out_max = tf.concat(axis=3, values=[out_max, one_hot_label_expand])
expand = tf.tile(out_max, [1, num_point, 1, 1])
concat = tf.concat(axis=3,
values=[expand, out0, pool_k, vlad_out, out4, out5])
net2 = tf_util.conv2d(concat,
256, [1, 1],
padding='VALID',
stride=[1, 1],
bn_decay=bn_decay,
bn=True,
is_training=is_training,
scope='seg/conv1',
weight_decay=weight_decay)
net2 = tf_util.dropout(net2,
keep_prob=0.8,
is_training=is_training,
scope='seg/dp1')
net2 = tf_util.conv2d(net2,
256, [1, 1],
padding='VALID',
stride=[1, 1],
bn_decay=bn_decay,
bn=True,
is_training=is_training,
scope='seg/conv2',
weight_decay=weight_decay)
net2 = tf_util.dropout(net2,
keep_prob=0.8,
is_training=is_training,
scope='seg/dp2')
net2 = tf_util.conv2d(net2,
128, [1, 1],
padding='VALID',
stride=[1, 1],
bn_decay=bn_decay,
bn=True,
is_training=is_training,
scope='seg/conv3',
weight_decay=weight_decay)
net2 = tf_util.conv2d(net2,
part_num, [1, 1],
padding='VALID',
stride=[1, 1],
activation_fn=None,
bn=False,
scope='seg/conv4',
weight_decay=weight_decay)
net2 = tf.reshape(net2, [batch_size, num_point, part_num])
return net, net2, end_points
3D expert convolutional architecture for 8 Gaussians
"""
batch_size = grid_3dmfv.get_shape()[0].value
layer = 1
net = inception_module(grid_3dmfv, n_filters=128, kernel_sizes=[3, 5], is_training=is_training,
bn_decay=bn_decay, scope='inception' + str(layer) + scope_str)
layer = layer + 1
net = inception_module(net, n_filters=256, kernel_sizes=[3, 5], is_training=is_training, bn_decay=bn_decay,
scope='inception' + str(layer) + scope_str)
layer = layer + 1
net = inception_module(net, n_filters=256, kernel_sizes=[3, 5], is_training=is_training, bn_decay=bn_decay,
scope='inception' + str(layer) + scope_str)
layer = layer + 1
net = tf_util.max_pool3d(net, [2, 2, 2], scope='maxpool' + str(layer) + scope_str, stride=[2, 2, 2], padding='SAME')
layer = layer + 1
net = inception_module(net, n_filters=512, kernel_sizes=[2, 4], is_training=is_training, bn_decay=bn_decay,
scope='inception' + str(layer) + scope_str)
layer = layer + 1
net = inception_module(net, n_filters=512, kernel_sizes=[2, 4], is_training=is_training, bn_decay=bn_decay,
scope='inception' + str(layer) + scope_str)
layer = layer + 1
net = tf_util.max_pool3d(net, [2, 2, 2], scope='maxpool' + str(layer) + scope_str, stride=[2, 2, 2], padding='SAME')
layer = layer + 1
net = inception_module(net, n_filters=512, kernel_sizes=[1, 2], is_training=is_training, bn_decay=bn_decay,
scope='inception' + str(layer) + scope_str)
layer = layer + 1
net = tf_util.max_pool3d(net, [2, 2, 2], scope='maxpool' + str(layer) + scope_str, stride=[2, 2, 2], padding='SAME')
global_feature = tf.reshape(net, [batch_size, -1])
def get_model(points, w, mu, sigma, is_training, radius, bn_decay=None, weight_decay=0.005, original_n_points=None):
"""
Normal estimation architecture for multi-scale and single-scale (ms, ss) Nesti-Net Ablations
:param points: a batch of point clouds with xyz coordinates [b x n x 3]
:param w: GMM weights
:param mu: GMM means
:param sigma: GMM std
:param is_training: true / false indicating training or testing
:param radius: list of floats indicating radius as percentage of bounding box
:param bn_decay:
:param weight_decay:
:param original_n_points: The original number of points in the vicinity of the query point ( used for compensating in the 3dmfv represenation)
:return:
net_n_est: estimated normal [b x n x 3]
grid_fisher: 3dmfv representation of each points cloud in the batch
"""
batch_size = points.get_shape()[0].value
n_rads = len(radius)
n_points = points.get_shape()[1].value / n_rads
n_gaussians = w.shape[0].value
res = int(np.round(np.power(n_gaussians, 1.0/3.0)))
for s, rad in enumerate(radius):
start = s * n_points
end = start + n_points
if original_n_points is None:
fv = tf_util.get_3dmfv_n_est(points[:, start:end, :], w, mu, sigma, flatten=True, n_original_points=None)
else:
fv = tf_util.get_3dmfv_n_est(points[:, start:end, :], w, mu, sigma, flatten=True, n_original_points=original_n_points[:, s])
if s == 0:
grid_fisher = tf.reshape(fv, [batch_size, -1, res, res, res])
else:
grid_fisher = tf.concat([grid_fisher, tf.reshape(fv, [batch_size, -1, res, res, res])], axis=1)
grid_fisher = tf.transpose(grid_fisher, [0, 2, 3, 4, 1])
#CNN architecture - adjust architecture to number of gaussians
if n_gaussians == 8*8*8:
layer = 1
net = inception_module(grid_fisher, n_filters=128, kernel_sizes=[3, 5], is_training=is_training, bn_decay=bn_decay, scope='inception_s'+str(s)+'_l_'+str(layer))
layer = layer + 1
net = inception_module(net, n_filters=256, kernel_sizes=[3, 5], is_training=is_training, bn_decay=bn_decay, scope='inception_s'+str(s)+'_l_'+str(layer))
layer = layer + 1
net = inception_module(net, n_filters=256, kernel_sizes=[3, 5], is_training=is_training, bn_decay=bn_decay, scope='inception_s'+str(s)+'_l_'+str(layer))
layer = layer + 1
net = tf_util.max_pool3d(net, [2, 2, 2], scope='maxpool_s'+str(s)+'_l_'+str(layer), stride=[2, 2, 2], padding='SAME')
layer = layer + 1
net = inception_module(net, n_filters=512, kernel_sizes=[3, 4], is_training=is_training, bn_decay=bn_decay, scope='inception_s'+str(s)+'_l_'+str(layer))
layer = layer + 1
net = inception_module(net, n_filters=512, kernel_sizes=[3, 4], is_training=is_training, bn_decay=bn_decay, scope='inception_s'+str(s)+'_l_'+str(layer))
layer = layer + 1
net = tf_util.max_pool3d(net, [2, 2, 2], scope='maxpool_s'+str(s)+'_l_'+str(layer), stride=[2, 2, 2], padding='SAME')
global_feature = tf.reshape(net, [batch_size, -1])
elif n_gaussians == 3 * 3 * 3:
layer = 1
net = inception_module(grid_fisher, n_filters=128, kernel_sizes=[2, 3], is_training=is_training,
bn_decay=bn_decay, scope='inception_s'+str(s)+'_l_'+str(layer))
layer = layer + 1
net = inception_module(net, n_filters=256, kernel_sizes=[2, 3], is_training=is_training, bn_decay=bn_decay,
scope='inception_s'+str(s)+'_l_'+str(layer))
layer = layer + 1
net = inception_module(net, n_filters=256, kernel_sizes=[1, 2], is_training=is_training, bn_decay=bn_decay,
scope='inception_s'+str(s)+'_l_'+str(layer))
layer = layer + 1
net = inception_module(net, n_filters=512, kernel_sizes=[1, 2], is_training=is_training, bn_decay=bn_decay,
scope='inception_s'+str(s)+'_l_'+str(layer))
layer = layer + 1
net = tf_util.max_pool3d(net, [3, 3, 3], scope='maxpool_s'+str(s)+'_l_'+str(layer), stride=[2, 2, 2],
padding='SAME')
global_feature = tf.reshape(net, [batch_size, -1])
else:
raise ValueError('Unsupported number of Gaussians - you should change the architecture accordingly') # will throw error if using an unsupported number of gaussians
# FC architectrure - normal estiamation network
net = tf_util.fully_connected(global_feature, 1024, bn=True, is_training=is_training,
scope='fc1', bn_decay=bn_decay, weigth_decay=weight_decay)
net = tf_util.dropout(net, keep_prob=0.7, is_training=is_training,
scope='dp1')
net = tf_util.fully_connected(net, 256, bn=True, is_training=is_training,
scope='fc2', bn_decay=bn_decay, weigth_decay=weight_decay)
net = tf_util.dropout(net, keep_prob=0.7, is_training=is_training,
scope='dp2')
net = tf_util.fully_connected(net, 128, bn=True, is_training=is_training,
scope='fc3', bn_decay=bn_decay, weigth_decay=weight_decay)
net = tf_util.dropout(net, keep_prob=0.7, is_training=is_training,
scope='dp3')
net_n_est = tf_util.fully_connected(net, 3, activation_fn=None, scope='fc4', is_training=is_training,
weigth_decay=weight_decay)
net_n_est = tf.squeeze(net_n_est)
if batch_size == 1:
net_n_est = tf.expand_dims(net_n_est, axis=0)
return net_n_est, grid_fisher
def __init__(self,
sess,
ob_space,
ac_space,
n_env,
n_steps,
n_batch,
reuse=False,
**kwargs):
super(Policy, self).__init__(sess,
ob_space,
ac_space,
n_env,
n_steps,
n_batch,
reuse=reuse,
scale=True)
print(self.obs_ph.get_shape())
net = tf.cast(self.obs_ph, tf.float32)
#net = tf.Print(net, [net], "input: ", summarize=1000)
print(net.get_shape())
with tf.variable_scope("model", reuse=reuse):
net = tu.conv3d(inputs=net,
num_output_channels=16,
kernel_size=[6, 6, 6],
scope="conv1",
stride=[1, 1, 1],
padding="VALID")
print(net.get_shape())
net = tu.max_pool3d(inputs=net,
kernel_size=[3, 3, 3],
scope="pool1",
stride=[2, 2, 2],
padding="VALID")
print(net.get_shape())
net = tu.conv3d(inputs=net,
num_output_channels=32,
kernel_size=[5, 5, 5],
scope="conv2",
stride=[1, 1, 1],
padding="VALID")
print(net.get_shape())
net = tu.max_pool3d(inputs=net,
kernel_size=[3, 3, 3],
scope="pool2",
stride=[2, 2, 2],
padding="VALID")
print(net.get_shape())
net = tu.conv3d(inputs=net,
num_output_channels=64,
kernel_size=[3, 3, 3],
scope="conv3",
stride=[1, 1, 1],
padding="VALID")
print(net.get_shape())
net = tu.max_pool3d(inputs=net,
kernel_size=[3, 3, 3],
scope="pool3",
stride=[2, 2, 2],
padding="VALID")
print(net.get_shape())
net = tu.conv3d(inputs=net,
num_output_channels=64,
kernel_size=[2, 2, 2],
scope="conv4",
stride=[1, 1, 1],
padding="VALID")
print(net.get_shape())
net = tu.max_pool3d(inputs=net,
kernel_size=[3, 3, 3],
scope="pool4",
stride=[1, 1, 1],
padding="VALID")
print(net.get_shape())
net = tf.layers.flatten(inputs=net)
print(net.get_shape())
with tf.name_scope("pi_h_fc1"):
pi_h = tf.layers.dense(
net,
8,
activation=tf.nn.relu,
kernel_initializer=tf.truncated_normal_initializer(
stddev=1e-3))
print(pi_h.get_shape())
pi_latent = pi_h
with tf.name_scope("vf_h_fc1"):
vf_h = tf.layers.dense(
net,
8,
activation=tf.nn.relu,
kernel_initializer=tf.truncated_normal_initializer(
stddev=1e-3))
print(vf_h.get_shape())
value_fn = tf.layers.dense(vf_h, 1, name="vf")
vf_latent = vf_h
self._proba_distribution, self._policy, self.q_value = \
self.pdtype.proba_distribution_from_latent(pi_latent, vf_latent, init_scale=0.01)
self._value_fn = value_fn
self._setup_init()
def pointnet_sa_module(cascade_id,
xyz,
points,
bidmap,
mlp_configs,
block_bottom_center_mm,
configs,
sgf_config_pls,
is_training,
bn_decay,
scope,
bn=True,
tnet_spec=None,
use_xyz=True,
IsShowModel=False):
'''
Input cascade_id==0:
xyz is grouped_points: (batch_size,nsubblock0,npoint_subblock0,6)
points: None
bidmap: None
Input cascade_id==1:
xyz: (batch_size,nsubblock0,3)
points: (batch_size,nsubblock0,channel)
bidmap: (batch_size,nsubblock1,npoint_subblock1)
Medium cascade_id==1:
grouped_xyz: (batch_size,nsubblock1,npoint_subblock1,3)
new_xyz: (batch_size,nsubblock1,3)
group_points: (batch_size,nsubblock1,npoint_subblock1,channel)
output cascade_id==1:
new_xyz: (batch_size,nsubblock1,3)
new_points: (batch_size,nsubblock1,channel)
'''
block_bottom_center_mm = tf.cast(
block_bottom_center_mm, tf.float32, name='block_bottom_center_mm'
) # gpu_0/sa_layer3/block_bottom_center_mm:0
batch_size = xyz.get_shape()[0].value
with tf.variable_scope(scope) as sc:
cascade_num = configs['flatten_bm_extract_idx'].shape[
0] - 1 # include global here (Note: cascade_num does not include global in block_pre_util )
assert configs['sub_block_step_candis'].size == cascade_num - 1
if cascade_id == 0:
indrop_keep_mask = tf.get_default_graph().get_tensor_by_name(
'indrop_keep_mask:0') # indrop_keep_mask:0
assert len(xyz.shape) == 3
if bidmap == None:
grouped_xyz = tf.expand_dims(xyz, 1)
grouped_points = tf.expand_dims(points, 1)
new_xyz = None
valid_mask = None
else:
batch_idx = tf.reshape(tf.range(batch_size), [batch_size, 1, 1, 1])
nsubblock = bidmap.get_shape()[1].value
npoint_subblock = bidmap.get_shape()[2].value
batch_idx_ = tf.tile(batch_idx, [1, nsubblock, npoint_subblock, 1])
bidmap = tf.expand_dims(bidmap, axis=-1, name='bidmap')
bidmap_concat = tf.concat(
[batch_idx_, bidmap], axis=-1,
name='bidmap_concat') # gpu_0/sa_layer0/bidmap_concat:0
# The value for invalid item in bidmap is -17.
# On GPU, the responding grouped_xyz and grouped_points is 0.
# NOT WORK on CPU !!!
# invalid indices comes from merge_blocks_while_fix_bmap
# set point_indices_f for invalid points as
# NETCONFIG['redundant_points_in_block'] ( shoud be set < -500)
valid_mask = tf.greater(bidmap, tf.constant(
-500, tf.int32), 'valid_mask') # gpu_0/sa_layer0/valid_mask:0
grouped_xyz = tf.gather_nd(
xyz, bidmap_concat,
name='grouped_xyz') # gpu_0/sa_layer0/grouped_xyz:0
grouped_points = tf.gather_nd(points,
bidmap_concat,
name='group_points')
if cascade_id == 0 and len(indrop_keep_mask.get_shape()) != 0:
grouped_indrop_keep_mask = tf.gather_nd(
indrop_keep_mask,
bidmap_concat,
name='grouped_indrop_keep_mask'
) # gpu_0/sa_layer0/grouped_indrop_keep_mask:0
# new_xyz is the "voxel center" or "mean position of points in the voxel"
if configs['mean_grouping_position'] and (
not mlp_configs['block_learning'] == '3DCNN'):
new_xyz = tf.reduce_mean(grouped_xyz, -2)
else:
new_xyz = block_bottom_center_mm[:, :, 3:6] * tf.constant(
0.001, tf.float32)
# the mid can be mean or block center, decided by configs['mean_grouping_position']
sub_block_mid = tf.expand_dims(
new_xyz, -2, name='sub_block_mid') # gpu_1/sa_layer0/sub_block_mid
global_block_mid = tf.reduce_mean(sub_block_mid,
1,
keepdims=True,
name='global_block_mid')
grouped_xyz_submid = grouped_xyz - sub_block_mid
grouped_xyz_glomid = grouped_xyz - global_block_mid
grouped_xyz_feed = []
if 'raw' in configs['xyz_elements']:
grouped_xyz_feed.append(grouped_xyz)
if 'sub_mid' in configs['xyz_elements']:
grouped_xyz_feed.append(grouped_xyz_submid)
if 'global_mid' in configs['xyz_elements']:
grouped_xyz_feed.append(grouped_xyz_glomid)
grouped_xyz_feed = tf.concat(grouped_xyz_feed, -1)
if cascade_id == 0:
# xyz must be at the first in feed_data_elements !!!!
grouped_points = tf.concat(
[grouped_xyz_feed, grouped_points[..., 3:]], -1)
if len(indrop_keep_mask.get_shape()) != 0:
if InDropMethod == 'set1st':
# set all the dropped item as the first item
tmp1 = tf.multiply(grouped_points,
grouped_indrop_keep_mask)
points_1st = grouped_points[:, :, 0:1, :]
points_1st = tf.tile(points_1st,
[1, 1, grouped_points.shape[2], 1])
indrop_mask_inverse = 1 - grouped_indrop_keep_mask
tmp2 = indrop_mask_inverse * points_1st
grouped_points = tf.add(
tmp1, tmp2, name='grouped_points_droped'
) # gpu_0/sa_layer0/grouped_points_droped
#tf.add_to_collection( 'check', grouped_points )
elif InDropMethod == 'set0':
valid_mask = tf.logical_and(
valid_mask,
tf.equal(grouped_indrop_keep_mask, 0),
name='valid_mask_droped'
) # gpu_1/sa_layer0/valid_mask_droped
elif use_xyz:
grouped_points = tf.concat([grouped_xyz_feed, grouped_points],
axis=-1)
tf.add_to_collection('grouped_xyz', grouped_xyz)
tf.add_to_collection('grouped_xyz_submid', grouped_xyz_submid)
tf.add_to_collection('grouped_xyz_glomid', grouped_xyz_glomid)
if cascade_id > 0 and use_xyz and (not cascade_id == cascade_num - 1):
grouped_points = tf.concat([grouped_xyz_feed, grouped_points],
axis=-1)
nsample = grouped_points.get_shape()[2].value # the conv kernel size
if IsShowModel:
print(
'\n\npointnet_sa_module cascade_id:%d\n xyz:%s\n grouped_xyz:%s\n new_xyz:%s\n grouped_points:%s\n nsample:%d'
% (cascade_id, shape_str([xyz]), shape_str([grouped_xyz]),
shape_str([new_xyz]), shape_str([grouped_points]), nsample))
new_points = grouped_points
if valid_mask != None:
new_points = new_points * tf.cast(valid_mask[:, :, :, 0:1],
tf.float32)
if 'growth_rate' in mlp_configs['point_encoder'][cascade_id]:
new_points = tf_util.dense_net( new_points, mlp_configs['point_encoder'][cascade_id], bn, is_training, bn_decay,\
scope = 'dense_cascade_%d_point_encoder'%(cascade_id) , is_show_model = IsShowModel )
else:
for i, num_out_channel in enumerate(
mlp_configs['point_encoder'][cascade_id]):
new_points = tf_util.conv2d(new_points,
num_out_channel, [1, 1],
padding='VALID',
stride=[1, 1],
bn=bn,
is_training=is_training,
scope='conv%d' % (i),
bn_decay=bn_decay)
if configs['Cnn_keep_prob'] < 1:
if (not configs['only_last_layer_ineach_cascade']
) or i == len(
mlp_configs['point_encoder'][cascade_id]) - 1:
new_points = tf_util.dropout(
new_points,
keep_prob=configs['Cnn_keep_prob'],
is_training=is_training,
scope='dropout',
name='cnn_dp%d' % (i))
if IsShowModel:
print('point encoder1 %d, new_points:%s' %
(i, shape_str([new_points])))
if cascade_id == 0:
root_point_features = new_points
#if InDropMethod == 'set0':
# if len(indrop_keep_mask.get_shape()) != 0:
# new_points = tf.identity(new_points,'points_before_droped') # gpu_0/sa_layer0/points_before_droped:0
# new_points = tf.multiply( new_points, grouped_indrop_keep_mask, name='droped_points' ) # gpu_0/sa_layer0/droped_points:0
else:
root_point_features = None
pooling = mlp_configs['block_learning']
if pooling == '3DCNN' and (cascade_id == 0):
pooling = 'max'
#if pooling=='avg':
# new_points = tf_util.avg_pool2d(new_points, [1,nsample], stride=[1,1], padding='VALID', scope='avgpool1')
#elif pooling=='weighted_avg':
# with tf.variable_scope('weighted_avg1'):
# dists = tf.norm(grouped_xyz,axis=-1,ord=2,keep_dims=True)
# exp_dists = tf.exp(-dists * 5)
# weights = exp_dists/tf.reduce_sum(exp_dists,axis=2,keep_dims=True) # (batch_size, npoint, nsample, 1)
# new_points *= weights # (batch_size, npoint, nsample, mlps_0[-1])
# new_points = tf.reduce_sum(new_points, axis=2, keep_dims=True)
if pooling == 'max':
# Even the grouped_points and grouped_xyz are 0 for invalid points, the
# vaule after mlp will not be. It has to be set as 0 forcely before
# pooling.
if valid_mask != None:
new_points = new_points * tf.cast(valid_mask[:, :, :, 0:1],
tf.float32)
new_points = tf.identity(
new_points,
'points_before_max') # gpu_0/sa_layer0/points_before_max
new_points = tf.reduce_max(new_points,
axis=[2],
keepdims=True,
name='points_after_max')
#elif pooling=='min':
# new_points = tf_util.max_pool2d(-1*new_points, [1,nsample], stride=[1,1], padding='VALID', scope='minpool1')
#elif pooling=='max_and_avg':
# avg_points = tf_util.max_pool2d(new_points, [1,nsample], stride=[1,1], padding='VALID', scope='maxpool1')
# max_points = tf_util.avg_pool2d(new_points, [1,nsample], stride=[1,1], padding='VALID', scope='avgpool1')
# new_points = tf.concat([avg_points, max_points], axis=-1)
elif pooling == '3DCNN':
new_points = grouped_points_to_voxel_points(
cascade_id,
new_points,
valid_mask,
block_bottom_center_mm,
configs,
grouped_xyz,
IsShowVoxelModel=IsShowModel)
if IsShowModel:
print('voxel points:%s' % (shape_str([new_points])))
for i, num_out_channel in enumerate(
mlp_configs['voxel_channels'][cascade_id]):
kernel_i = [mlp_configs['voxel_kernels'][cascade_id][i]] * 3
stride_i = [mlp_configs['voxel_strides'][cascade_id][i]] * 3
if new_points.shape[1] % 2 == 0:
padding_i = np.array([[0, 0], [1, 0], [1, 0], [1, 0], [
0, 0
]]) * mlp_configs['voxel_paddings'][cascade_id][i]
else:
padding_i = np.array([[0, 0], [1, 1], [1, 1], [1, 1], [
0, 0
]]) * mlp_configs['voxel_paddings'][cascade_id][i]
new_points = tf.pad(new_points, padding_i, "CONSTANT")
if type(num_out_channel) == int:
new_points = tf_util.conv3d(new_points,
num_out_channel,
kernel_i,
scope='3dconv_%d' % (i),
stride=stride_i,
padding='VALID',
bn=bn,
is_training=is_training,
bn_decay=bn_decay,
name='points_3dcnn_%d' % (i))
if IsShowModel:
print('block learning by 3dcnn %d, new_points:%s' %
(i, shape_str([new_points])))
elif num_out_channel == 'max':
new_points = tf_util.max_pool3d(new_points,
kernel_i,
scope='3dmax_%d' % (i),
stride=stride_i,
padding='VALID')
if IsShowModel:
print('block learning max pooling %d, new_points:%s' %
(i, shape_str([new_points])))
elif num_out_channel == 'avg':
new_points = tf_util.avg_pool3d(new_points,
kernel_i,
scope='3dmax_%d' % (i),
stride=stride_i,
padding='VALID')
if IsShowModel:
print('block learning avg pooling %d, new_points:%s' %
(i, shape_str([new_points])))
# gpu_0/sa_layer1/3dconv_0/points_3dcnn_0:0
if configs['Cnn_keep_prob'] < 1:
if (not configs['only_last_layer_ineach_cascade']
) or i == len(
mlp_configs['voxel_channels'][cascade_id]) - 1:
new_points = tf_util.dropout(
new_points,
keep_prob=configs['Cnn_keep_prob'],
is_training=is_training,
scope='dropout',
name='3dcnn_dp%d' % (i))
# gpu_0/sa_layer4/3dconv_0/points_3dcnn_0:0
new_points = tf.squeeze(new_points, [1, 2, 3])
new_points = tf.reshape(
new_points, [batch_size, -1, 1, new_points.shape[-1].value])
if IsShowModel:
print('after %s, new_points:%s' %
(pooling, shape_str([new_points])))
if 'growth_rate' in mlp_configs['block_encoder'][cascade_id]:
new_points = tf_util.dense_net(
new_points,
mlp_configs['block_encoder'][cascade_id],
bn,
is_training,
bn_decay,
scope='dense_cascade_%d_block_encoder' % (cascade_id),
is_show_model=IsShowModel)
else:
for i, num_out_channel in enumerate(
mlp_configs['block_encoder'][cascade_id]):
new_points = tf_util.conv2d(new_points,
num_out_channel, [1, 1],
padding='VALID',
stride=[1, 1],
bn=bn,
is_training=is_training,
scope='conv_post_%d' % (i),
bn_decay=bn_decay)
if configs['Cnn_keep_prob'] < 1:
if (not configs['only_last_layer_ineach_cascade']
) or i == len(
mlp_configs['block_encoder'][cascade_id]) - 1:
new_points = tf_util.dropout(
new_points,
keep_prob=configs['Cnn_keep_prob'],
is_training=is_training,
scope='dropout',
name='cnn_dp%d' % (i))
if IsShowModel:
print('block encoder %d, new_points:%s' %
(i, shape_str([new_points])))
# (2, 512, 1, 64)
new_points = tf.squeeze(new_points,
[2]) # (batch_size, npoints, mlps_1[-1])
if IsShowModel:
print(
'pointnet_sa_module return\n new_xyz: %s\n new_points:%s\n\n' %
(shape_str([new_xyz]), shape_str([new_points])))
#import pdb;pdb.set_trace()
# (2, 512, 64)
return new_xyz, new_points, root_point_features
def get_model(points,
w,
mu,
sigma,
is_training,
bn_decay=None,
weight_decay=0.005,
original_n_points=None,
labels=None):
""" Classification PFV-Network, input is BxNx3"""
batch_size = points.get_shape()[0].value
n_points = points.get_shape()[1].value
n_gaussians = w.shape[0].value
res = int(np.round(np.power(n_gaussians, 1.0 / 3.0)))
if original_n_points is None:
fv = tf_util.get_3dmfv_n_est(points,
w,
mu,
sigma,
flatten=True,
n_original_points=None)
else:
fv = tf_util.get_3dmfv_n_est(points,
w,
mu,
sigma,
flatten=True,
n_original_points=original_n_points)
grid_fisher = tf.reshape(fv, [batch_size, -1, res, res, res])
grid_fisher = tf.transpose(grid_fisher, [0, 2, 3, 4, 1])
# Inception
layer = 1
net = inception_module(grid_fisher,
n_filters=128,
kernel_sizes=[3, 5],
is_training=is_training,
bn_decay=bn_decay,
scope='inception' + str(layer))
layer = layer + 1
net = inception_module(net,
n_filters=256,
kernel_sizes=[3, 5],
is_training=is_training,
bn_decay=bn_decay,
scope='inception' + str(layer))
layer = layer + 1
net = inception_module(net,
n_filters=256,
kernel_sizes=[3, 5],
is_training=is_training,
bn_decay=bn_decay,
scope='inception' + str(layer))
layer = layer + 1
net = tf_util.max_pool3d(net, [2, 2, 2],
scope='maxpool' + str(layer),
stride=[2, 2, 2],
padding='SAME')
layer = layer + 1
net = inception_module(net,
n_filters=512,
kernel_sizes=[3, 5],
is_training=is_training,
bn_decay=bn_decay,
scope='inception' + str(layer))
layer = layer + 1
net = inception_module(net,
n_filters=512,
kernel_sizes=[3, 5],
is_training=is_training,
bn_decay=bn_decay,
scope='inception' + str(layer))
layer = layer + 1
net = tf_util.max_pool3d(net, [2, 2, 2],
scope='maxpool' + str(layer),
stride=[2, 2, 2],
padding='SAME')
global_feature = tf.reshape(net, [batch_size, -1])
#normal estiamation network
net = tf_util.fully_connected(global_feature,
1024,
bn=True,
is_training=is_training,
scope='fc1',
bn_decay=bn_decay,
weigth_decay=weight_decay)
net = tf_util.dropout(net,
keep_prob=0.7,
is_training=is_training,
scope='dp1')
net = tf_util.fully_connected(net,
256,
bn=True,
is_training=is_training,
scope='fc2',
bn_decay=bn_decay,
weigth_decay=weight_decay)
net = tf_util.dropout(net,
keep_prob=0.7,
is_training=is_training,
scope='dp2')
net = tf_util.fully_connected(net,
128,
bn=True,
is_training=is_training,
scope='fc3',
bn_decay=bn_decay,
weigth_decay=weight_decay)
net = tf_util.dropout(net,
keep_prob=0.7,
is_training=is_training,
scope='dp3')
net_n_est = tf_util.fully_connected(net,
3,
activation_fn=None,
scope='fc4',
is_training=is_training,
weigth_decay=weight_decay)
# TO DO - Add constrint to enforce unit size
net_n_est = tf.squeeze(net_n_est)
if batch_size == 1:
net_n_est = tf.expand_dims(net_n_est, axis=0)
return net_n_est, grid_fisher
