def __init__(self,
*,
npoint: int,
radii: List[float],
nsamples: List[int],
mlps: List[List[int]],
bn: bool = True,
use_xyz: bool = True):
super().__init__()
assert len(radii) == len(nsamples) == len(mlps)
self.npoint = npoint
self.groupers = nn.ModuleList()
self.mlps = nn.ModuleList()
for i in range(len(radii)):
radius = radii[i]
nsample = nsamples[i]
self.groupers.append(
pointnet2_utils.QueryAndGroup(radius, nsample, use_xyz=use_xyz)
if npoint is not None else pointnet2_utils.GroupAll(use_xyz))
mlp_spec = mlps[i]
if use_xyz:
mlp_spec[0] += 3
self.mlps.append(pt_utils.SharedMLP(mlp_spec, bn=bn))
def __init__(self, npoint, radius, nsample, in_channel, mlp, group_all):
super(SAModule, self).__init__()
self.npoint = npoint
self.radius = radius
self.nsample = nsample
self.group_all = group_all
self.mlp_convs = nn.ModuleList()
self.mlp_bns = nn.ModuleList()
last_channel = in_channel + 3 # TODO：
for out_channel in mlp:
self.mlp_convs.append(
nn.Conv2d(last_channel, out_channel, 1, bias=False))
self.mlp_bns.append(nn.BatchNorm2d(out_channel))
last_channel = out_channel
if group_all:
self.queryandgroup = pointutils.GroupAll()
else:
self.queryandgroup = pointutils.QueryAndGroup(radius, nsample)
def __init__(self, npoint, radii, nsamples, mlps, bn=True, use_xyz=True):
# type: (PointnetSAModuleMSG, int, List[float], List[int], List[List[int]], bool, bool) -> None
super(PointnetSAModuleMSG1, self).__init__()
assert len(radii) == len(nsamples) == len(mlps)
self.npoint = npoint
self.groupers = nn.ModuleList()
self.mlps = nn.ModuleList()
for i in range(len(radii)):
radius = radii[i]
nsample = nsamples[i]
self.groupers.append(
pointnet2_utils.QueryAndGroup(radius, nsample, use_xyz=use_xyz)
if npoint is not None else pointnet2_utils.GroupAll(use_xyz))
mlp_spec = mlps[i]
if use_xyz:
mlp_spec[0] += 3
self.mlps.append(pt_utils.SharedMLP(mlp_spec, bn=bn))