def pointnet_fp_module(xyz1, xyz2, points1, points2, mlp, is_training, bn_decay, scope, bn=True):
''' PointNet Feature Propogation (FP) Module
Input:
xyz1: (batch_size, ndataset1, 3) TF tensor
xyz2: (batch_size, ndataset2, 3) TF tensor, sparser than xyz1
points1: (batch_size, ndataset1, nchannel1) TF tensor
points2: (batch_size, ndataset2, nchannel2) TF tensor
mlp: list of int32 -- output size for MLP on each point
Return:
new_points: (batch_size, ndataset1, mlp[-1]) TF tensor
'''
with tf.variable_scope(scope) as sc:
dist, idx = three_nn(xyz1, xyz2)
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum((1.0/dist),axis=2,keep_dims=True)
norm = tf.tile(norm,[1,1,3])
weight = (1.0/dist) / norm
interpolated_points = three_interpolate(points2, idx, weight)
if points1 is not None:
new_points1 = tf.concat(axis=2, values=[interpolated_points, points1]) # B,ndataset1,nchannel1+nchannel2
else:
new_points1 = interpolated_points
new_points1 = tf.expand_dims(new_points1, 2)
for i, num_out_channel in enumerate(mlp):
new_points1 = tf_util.conv2d(new_points1, num_out_channel, [1,1],
padding='VALID', stride=[1,1],
bn=bn, is_training=is_training,
scope='conv_%d'%(i), bn_decay=bn_decay)
new_points1 = tf.squeeze(new_points1, [2]) # B,ndataset1,mlp[-1]
return new_points1
def pointnet_fp_module(xyz1,
xyz2,
points1,
points2,
mlp,
is_training,
bn_decay,
scope,
bn=True,
is_dist=False):
''' PointNet Feature Propogation (FP) Module
Input:
xyz1: (batch_size, ndataset1, 3) TF tensor
xyz2: (batch_size, ndataset2, 3) TF tensor, sparser than xyz1
points1: (batch_size, ndataset1, nchannel1) TF tensor
points2: (batch_size, ndataset2, nchannel2) TF tensor
mlp: list of int32 -- output size for MLP on each point
Return:
new_points: (batch_size, ndataset1, mlp[-1]) TF tensor
'''
with tf.variable_scope(scope) as sc:
dist, idx = three_nn(xyz1, xyz2)
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum((1.0 / dist), axis=2, keep_dims=True)
norm = tf.tile(norm, [1, 1, 3])
weight = (1.0 / dist) / norm
interpolated_points = three_interpolate(points2, idx, weight)
if points1 is not None:
new_points1 = tf.concat(
axis=2, values=[interpolated_points,
points1]) # B,ndataset1,nchannel1+nchannel2
else:
new_points1 = interpolated_points
new_points1 = tf.expand_dims(new_points1, 2)
for i, num_out_channel in enumerate(mlp):
new_points1 = tf_util.conv2d(new_points1,
num_out_channel, [1, 1],
padding='VALID',
stride=[1, 1],
bn=bn,
is_training=is_training,
scope='conv_%d' % (i),
bn_decay=bn_decay,
is_dist=is_dist)
new_points1 = tf.squeeze(new_points1, [2]) # B,ndataset1,mlp[-1]
return new_points1
def fun(xyz1, xyz2, pts2):
with tf.device("/cpu:0"):
points = tf.constant(np.expand_dims(pts2, 0))
xyz1 = tf.constant(np.expand_dims(xyz1, 0))
xyz2 = tf.constant(np.expand_dims(xyz2, 0))
dist, idx = three_nn(xyz1, xyz2)
# weight = tf.ones_like(dist)/3.0
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum((1.0 / dist), axis=2, keep_dims=True)
norm = tf.tile(norm, [1, 1, 3])
print(norm)
weight = (1.0 / dist) / norm
interpolated_points = three_interpolate(points, idx, weight)
with tf.Session("") as sess:
tmp, pts1, d, w = sess.run([xyz1, interpolated_points, dist, weight])
pts1 = pts1.squeeze()
return pts1
def test(self):
np.random.seed(100)
pts = np.random.random((32, 128, 64)).astype("float32")
tmp1 = np.random.random((32, 512, 3)).astype("float32")
tmp2 = np.random.random((32, 128, 3)).astype("float32")
with tf.device("/cpu:0"):
points = tf.constant(pts)
xyz1 = tf.constant(tmp1)
xyz2 = tf.constant(tmp2)
dist, idx = three_nn(xyz1, xyz2)
weight = tf.ones_like(dist) / 3.0
interpolated_points = three_interpolate(points, idx, weight)
with tf.compat.v1.Session("") as sess:
now = time.time()
for _ in range(100):
ret = sess.run(interpolated_points)
print(time.time() - now)
print(ret.shape, ret.dtype)
def test_grad(self):
with self.test_session():
points = tf.constant(
np.random.random((1, 8, 16)).astype('float32'))
xyz1 = tf.constant(np.random.random((1, 128, 3)).astype('float32'))
xyz2 = tf.constant(np.random.random((1, 8, 3)).astype('float32'))
dist, idx = three_nn(xyz1, xyz2)
weight = tf.ones_like(dist) / 3.0
interpolated_points = three_interpolate(points, idx, weight)
print(interpolated_points)
print('------------')
err = tf.test.compute_gradient_error(points, (1, 8, 16),
interpolated_points,
(1, 128, 16))
print('------------')
print(err)
self.assertLess(err, 1e-4)
def fun(xyz1,xyz2,pts2):
with tf.device('/cpu:0'):
points = tf.constant(np.expand_dims(pts2,0))
xyz1 = tf.constant(np.expand_dims(xyz1,0))
xyz2 = tf.constant(np.expand_dims(xyz2,0))
dist, idx = three_nn(xyz1, xyz2)
#weight = tf.ones_like(dist)/3.0
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum((1.0/dist),axis=2,keep_dims=True)
norm = tf.tile(norm, [1,1,3])
print(norm)
weight = (1.0/dist) / norm
interpolated_points = three_interpolate(points, idx, weight)
with tf.Session('') as sess:
tmp,pts1,d,w = sess.run([xyz1, interpolated_points, dist, weight])
#print w
pts1 = pts1.squeeze()
return pts1
def test_grad(self):
with self.test_session():
features = tf.constant(
np.random.random(
(1, 8, 16)).astype('float32')) # features, (1,8,16)
print(features)
xyz1 = tf.constant(np.random.random((1, 128, 3)).astype('float32'))
xyz2 = tf.constant(np.random.random((1, 8, 3)).astype('float32'))
dist, idx = three_nn(xyz1, xyz2) # (1,128,3), (1,128,3)
weight = tf.ones_like(dist) / 3.0 # (1,128,3)
interpolated_features = three_interpolate(features, idx,
weight) # (1,128,16)
print(interpolated_features)
err = tf.test.compute_gradient_error(features, (1, 8, 16),
interpolated_features,
(1, 128, 16))
print(err)
self.assertLess(err, 1e-4)
def pointnet_fp_module(xyz1,
xyz2,
points1,
points2,
mlp,
last_mlp_activation=True,
scope='fp'):
''' PointNet Feature Propogation (FP) Module
Input:
xyz1: (batch_size, ndataset1, 3) TF tensor
xyz2: (batch_size, ndataset2, 3) TF tensor, sparser than xyz1
points1: (batch_size, ndataset1, nchannel1) TF tensor
points2: (batch_size, ndataset2, nchannel2) TF tensor
mlp: list of int32 -- output size for MLP on each point
Return:
new_points: (batch_size, ndataset1, mlp[-1]) TF tensor
'''
with tf.variable_scope(scope) as sc:
dist, idx = three_nn(xyz1, xyz2)
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum((1.0 / dist), axis=2, keepdims=True)
norm = tf.tile(norm, [1, 1, 3])
weight = (1.0 / dist) / norm
interpolated_points = three_interpolate(points2, idx, weight)
if points1 is not None:
new_points1 = tf.concat(
axis=2, values=[interpolated_points,
points1]) # B,ndataset1,nchannel1+nchannel2
else:
new_points1 = interpolated_points
new_points1 = tf.expand_dims(new_points1, 2)
for i, num_out_channel in enumerate(mlp):
if i == len(mlp) - 1 and not (last_mlp_activation):
activation_fn = None
else:
activation_fn = tf.nn.relu
new_points1 = conv2d(inputs=new_points1,
filters=num_out_channel,
name='mlp_%d' % (i + 1))
new_points1 = tf.squeeze(new_points1, [2]) # B,ndataset1,mlp[-1]
return new_points1
def pointnet_upsample(xyz1, xyz2, points2, scope):
""" PointNet Feature Propogation (FP) Module
Input:
xyz1: (batch_size, ndataset1, 3) TF tensor
xyz2: (batch_size, ndataset2, 3) TF tensor, sparser than xyz1
points2: (batch_size, ndataset2, nchannel2) TF tensor
Return:
new_points: (batch_size, ndataset1, nchannel2) TF tensor
"""
with tf.variable_scope(scope) as sc:
dist, idx = three_nn(xyz1, xyz2)
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum((1.0 / dist), axis=2, keep_dims=True)
norm = tf.tile(norm, [1, 1, 3])
weight = (1.0 / dist) / norm
interpolated_points = three_interpolate(
points2, idx, weight) # B x ndataset1 x nchannel2
return interpolated_points
def pc_upsampling(xyz_upsample, xyz, feat, scope='upsampling'):
""" Fully connected layer with non-linear operation.
Args:
xyz_upsample: 3-D tensor B x N2 x 3
xyz: 3-D tensor B x N x 3
feat: 3-D tensor B x N x C
Returns:
feat_upsample: 3-D tensor B x N2 x C
"""
with tf.variable_scope(scope) as sc:
dist, idx_de = three_nn(xyz_upsample, xyz)
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum((1.0 / dist), axis=2, keep_dims=True)
norm = tf.tile(norm, [1, 1, 3])
weight = (1.0 / dist) / norm
feat_upsample = three_interpolate(feat, idx_de, weight)
return feat_upsample
def get_model(point_cloud, cls_label, is_training, bn_decay=None):
""" Classification PointNet, input is BxNx3, output Bx40 """
batch_size = point_cloud.get_shape()[0].value
num_point = point_cloud.get_shape()[1].value
end_points = {}
l0_xyz = tf.slice(point_cloud, [0,0,0], [-1,-1,3])
l0_points = tf.slice(point_cloud, [0,0,3], [-1,-1,3])
# Set abstraction layers
l1_xyz, l1_points = pointnet_sa_module_msg(l0_xyz, l0_points, 512, [0.1,0.2,0.4], [32,64,128], [[32,32,64], [64,64,128], [64,96,128]], is_training, bn_decay, scope='layer1')
l2_xyz, l2_points = pointnet_sa_module_msg(l1_xyz, l1_points, 128, [0.4,0.8], [64,128], [[128,128,256],[128,196,256]], is_training, bn_decay, scope='layer2')
l3_xyz, l3_points, l3_indices = pointnet_sa_module(l2_xyz, l2_points, npoint=None, radius=None, nsample=None, mlp=[256,512,1024], mlp2=None, group_all=True, is_training=is_training, bn_decay=bn_decay, scope='layer3')
# Feature propagation layers
l2_points = pointnet_fp_module(l2_xyz, l3_xyz, l2_points, l3_points, [256,256], is_training, bn_decay, scope='fa_layer1')
l1_points = pointnet_fp_module(l1_xyz, l2_xyz, l1_points, l2_points, [256,128], is_training, bn_decay, scope='fa_layer2')
cls_label_one_hot = tf.one_hot(cls_label, depth=NUM_CATEGORIES, on_value=1.0, off_value=0.0)
cls_label_one_hot = tf.reshape(cls_label_one_hot, [batch_size, 1, NUM_CATEGORIES])
cls_label_one_hot = tf.tile(cls_label_one_hot, [1,num_point,1])
# Calculate the relative coordinates generated in the first set abstraction layer
# These relative coordinates will be concatenated in the last feature propagation layer
dist, idx = three_nn(l0_xyz, l1_xyz)
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum((1.0/dist),axis=2,keep_dims=True)
norm = tf.tile(norm,[1,1,3])
weight = (1.0/dist) / norm
l0_virtual_centers = three_interpolate(l1_xyz, idx, weight)
l0_xyz_rel = l0_xyz - l0_virtual_centers
#l0_points = pointnet_fp_module(l0_xyz, l1_xyz, tf.concat([cls_label_one_hot, l0_xyz_rel, l0_points],axis=-1), l1_points, [128,128], is_training, bn_decay, scope='fp_layer3')
l0_points = pointnet_fp_module(l0_xyz, l1_xyz, tf.concat([cls_label_one_hot, l0_points],axis=-1), l1_points, [128,128], is_training, bn_decay, scope='fp_layer3')
# FC layers
net = tf_util.conv1d(l0_points, 128, 1, padding='VALID', bn=True, is_training=is_training, scope='fc1', bn_decay=bn_decay)
end_points['feats'] = net
net = tf_util.dropout(net, keep_prob=0.5, is_training=is_training, scope='dp1')
net = tf_util.conv1d(net, 50, 1, padding='VALID', activation_fn=None, scope='fc2')
return net, end_points
def call(self, x):
'''
Input:
1: unknown
2: known
xyz1: (batch_size, ndataset1, 3) TF tensor
xyz2: (batch_size, ndataset2, 3) TF tensor, sparser than xyz1
points1: (batch_size, ndataset1, nchannel1) TF tensor
points2: (batch_size, ndataset2, nchannel2) TF tensor
mlp: list of int32 -- output size for MLP on each point
'''
xyz1, xyz2, points1, points2 = x
dist, idx = three_nn(xyz1, xyz2)
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum(1.0/dist, axis=2, keep_dims=True)
norm = tf.tile(norm, [1,1,3])
weight = (1.0/dist)/norm
interpolated_points = three_interpolate(points2, idx, weight)
# suppose points1 is not None
new_points1 = tf.concat(axis=2, values=[interpolated_points, points1]) # B, n1, c1+c2
new_points1 = tf.expand_dims(new_points1, 2) # B, n1, 1, c1+c2
return new_points1
def fun(xyz1, xyz2, pts2):
with tf.device('/cpu:0'):
points = tf.constant(np.expand_dims(pts2, 0))
xyz1 = tf.constant(np.expand_dims(xyz1, 0))
xyz2 = tf.constant(np.expand_dims(xyz2, 0))
# xyz1每个点最近的三个点的距离，索引
dist, idx = three_nn(xyz1, xyz2)
# weight = tf.ones_like(dist)/3.0
# print(weight)
# 保证距离为正
dist = tf.maximum(dist, 1e-10)
# 到最近三个点距离和
norm = tf.reduce_sum((1.0 / dist), axis=2, keep_dims=True)
norm = tf.tile(norm, [1, 1, 3])
# 到每个点的权重
weight = (1.0 / dist) / norm
interpolated_points = three_interpolate(points, idx, weight)
with tf.Session('') as sess:
tmp, pts1, d, w = sess.run([xyz1, interpolated_points, dist, weight])
#print w
pts1 = pts1.squeeze()
return pts1
def pointnet_fp_module(xyz1, xyz2, points1, points2, mlp, is_training,
bn_decay, scope):
with tf.variable_scope(scope) as sc:
dist, idx = three_nn(xyz1, xyz2)
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum((1.0 / dist), axis=2, keep_dims=True)
norm = tf.tile(norm, [1, 1, 3])
weight = (1.0 / dist) / norm
interpolated_points = three_interpolate(points2, idx, weight)
if points1 is not None:
new_points1 = tf.concat(
axis=2, values=[interpolated_points,
points1]) # B,ndataset1,nchannel1+nchannel2
else:
new_points1 = interpolated_points
new_points1 = tf.expand_dims(new_points1, 2)
kernel = [None] * len(mlp)
bias = [None] * len(mlp)
for i, num_out_channel in enumerate(mlp):
kernel[i] = tf.get_variable(
'kernel' + str(i),
[1, 1,
new_points1.get_shape()[-1].value, num_out_channel],
initializer=tf.contrib.layers.xavier_initializer(),
dtype=tf.float32)
bias[i] = tf.get_variable('bias' + str(i), [num_out_channel],
initializer=tf.constant_initializer(0.0),
dtype=tf.float32)
new_points1 = tf.nn.conv2d(new_points1,
kernel[i], [1, 1, 1, 1],
padding='VALID')
new_points1 = tf.nn.bias_add(new_points1, bias[i])
new_points1 = tf.nn.relu(new_points1)
new_points1 = tf.squeeze(new_points1, [2]) # B,ndataset1,mlp[-1]s
return new_points1
def pointconv_decoding_depthwise(xyz1,
xyz2,
points1,
points2,
radius,
sigma,
K,
mlp,
is_training,
bn_decay,
weight_decay,
scope,
bn=True,
use_xyz=True,
is_dist=False):
""" Input:
depthwise version of pointconv
xyz1: (batch_size, ndataset1, 3) TF tensor
xyz2: (batch_size, ndataset2, 3) TF tensor, sparser than xyz1
points1: (batch_size, ndataset1, nchannel1) TF tensor
points2: (batch_size, ndataset2, nchannel2) TF tensor
sigma: float32 -- KDE bandwidth
K: int32 -- how many points in each local region
mlp: list of int32 -- output size for MLP on each point
Return:
new_points: (batch_size, ndataset1, mlp[-1]) TF tensor
"""
with tf.variable_scope(scope) as sc:
dist, idx = three_nn(xyz1, xyz2)
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum((1.0 / dist), axis=2, keep_dims=True)
norm = tf.tile(norm, [1, 1, 3])
weight = (1.0 / dist) / norm
interpolated_points = three_interpolate(points2, idx, weight)
# setup for deConv
grouped_xyz, grouped_feature, idx = pointconv_grouping(
interpolated_points, K, xyz1, xyz1, use_xyz=use_xyz)
weight = weight_net(grouped_xyz,
[32, grouped_feature.get_shape()[3].value],
scope='decode_weight_net',
is_training=is_training,
bn_decay=bn_decay,
weight_decay=weight_decay,
is_dist=is_dist)
new_points = tf.multiply(grouped_feature, weight)
new_points = tf_util.reduce_sum2d_conv(new_points,
axis=2,
scope='fp_sumpool',
bn=True,
is_dist=is_dist,
bn_decay=bn_decay,
is_training=is_training,
keepdims=False)
if points1 is not None:
# [B x ndataset1 x nchannel1+nchannel2]
new_points1 = tf.concat(axis=-1, values=[new_points, points1])
else:
new_points1 = new_points
new_points1 = tf.expand_dims(new_points1, 2)
for i, num_out_channel in enumerate(mlp):
new_points1 = tf_util.conv2d(new_points1,
num_out_channel, [1, 1],
padding='VALID',
stride=[1, 1],
bn=bn,
is_training=is_training,
is_dist=is_dist,
scope='conv_%d' % (i),
bn_decay=bn_decay,
weight_decay=weight_decay)
new_points1 = tf.squeeze(new_points1, [2]) # [B x ndataset1 x mlp[-1]]
return new_points1
def feature_decoding_layer(xyz1,
xyz2,
points1,
points2,
radius,
sigma,
K,
mlp,
is_training,
bn_decay,
weight_decay,
scope,
bn=True,
use_xyz=True,
boundary_label=None):
''' Input:
xyz1: (batch_size, ndataset1, 3) TF tensor
xyz2: (batch_size, ndataset2, 3) TF tensor, sparser than xyz1
points1: (batch_size, ndataset1, nchannel1) TF tensor
points2: (batch_size, ndataset2, nchannel2) TF tensor
sigma: float32 -- KDE bandwidth
K: int32 -- how many points in each local region
mlp: list of int32 -- output size for MLP on each point
Return:
new_points: (batch_size, ndataset1, mlp[-1]) TF tensor
'''
with tf.variable_scope(scope) as sc:
dist, idx = three_nn(xyz1, xyz2)
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum((1.0 / dist), axis=2, keepdims=True)
norm = tf.tile(norm, [1, 1, 3])
weight = (1.0 / dist) / norm
interpolated_points = three_interpolate(points2, idx, weight)
#setup for deConv
if boundary_label is None:
pass
else:
tmp_boundary_label = tf.tile(tf.expand_dims(boundary_label, [-1]),
[1, 1, interpolated_points.shape[2]])
interpolated_points = interpolated_points * tmp_boundary_label
grouped_xyz, grouped_feature, idx, grouped_boundary_label = pointconv_util.grouping(
interpolated_points,
K,
xyz1,
xyz1,
use_xyz=use_xyz,
boundary_label=boundary_label)
weight = weight_net_hidden(grouped_xyz, [32],
scope='decode_weight_net',
is_training=is_training,
bn_decay=bn_decay,
weight_decay=weight_decay)
new_points = tf.transpose(grouped_feature, [0, 1, 3, 2])
new_points = tf.matmul(new_points, weight)
new_points = tf_util.conv2d(new_points,
mlp[0],
[1, new_points.get_shape()[2].value],
padding='VALID',
stride=[1, 1],
bn=bn,
is_training=is_training,
scope='decode_after_conv',
bn_decay=bn_decay,
weight_decay=weight_decay)
if points1 is not None:
new_points1 = tf.concat(axis=-1,
values=[
new_points,
tf.expand_dims(points1, axis=2)
]) # B,ndataset1,nchannel1+nchannel2
else:
new_points1 = new_points
for i, num_out_channel in enumerate(mlp):
if i != 0:
new_points1 = tf_util.conv2d(new_points1,
num_out_channel, [1, 1],
padding='VALID',
stride=[1, 1],
bn=bn,
is_training=is_training,
scope='conv_%d' % (i),
bn_decay=bn_decay,
weight_decay=weight_decay)
new_points1 = tf.squeeze(new_points1, [2]) # B,ndataset1,mlp[-1]
return new_points1
def feature_decoding_layer_depthwise(xyz1,
xyz2,
points1,
points2,
radius,
sigma,
K,
mlp,
is_training,
bn_decay,
weight_decay,
scope,
bn=True,
use_xyz=True):
''' Input:
depthwise version of pointconv
xyz1: (batch_size, ndataset1, 3) TF tensor
xyz2: (batch_size, ndataset2, 3) TF tensor, sparser than xyz1
points1: (batch_size, ndataset1, nchannel1) TF tensor
points2: (batch_size, ndataset2, nchannel2) TF tensor
sigma: float32 -- KDE bandwidth
K: int32 -- how many points in each local region
mlp: list of int32 -- output size for MLP on each point
Return:
new_points: (batch_size, ndataset1, mlp[-1]) TF tensor
'''
with tf.variable_scope(scope) as sc:
dist, idx = three_nn(xyz1, xyz2)
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum((1.0 / dist), axis=2, keep_dims=True)
norm = tf.tile(norm, [1, 1, 3])
weight = (1.0 / dist) / norm
interpolated_points = three_interpolate(points2, idx, weight)
#setup for deConv
grouped_xyz, grouped_feature, idx = pointconv_util.grouping(
interpolated_points, K, xyz1, xyz1, use_xyz=use_xyz)
density = pointconv_util.kernel_density_estimation_ball(
xyz1, radius, sigma)
inverse_density = tf.div(1.0, density)
grouped_density = tf.gather_nd(inverse_density,
idx) # (batch_size, npoint, nsample, 1)
#grouped_density = tf_grouping.group_point(inverse_density, idx)
inverse_max_density = tf.reduce_max(grouped_density,
axis=2,
keep_dims=True)
density_scale = tf.div(grouped_density, inverse_max_density)
#density_scale = tf_grouping.group_point(density, idx)
weight = weight_net(grouped_xyz,
[32, grouped_feature.get_shape()[3].value],
scope='decode_weight_net',
is_training=is_training,
bn_decay=bn_decay,
weight_decay=weight_decay)
density_scale = nonlinear_transform(density_scale, [16, 1],
scope='decode_density_net',
is_training=is_training,
bn_decay=bn_decay,
weight_decay=weight_decay)
new_points = tf.multiply(grouped_feature, density_scale)
new_points = tf.multiply(grouped_feature, weight)
new_points = tf_util.reduce_sum2d_conv(new_points,
axis=2,
scope='fp_sumpool',
bn=True,
bn_decay=bn_decay,
is_training=is_training,
keep_dims=False)
if points1 is not None:
new_points1 = tf.concat(
axis=-1, values=[new_points,
points1]) # B,ndataset1,nchannel1+nchannel2
else:
new_points1 = new_points
new_points1 = tf.expand_dims(new_points1, 2)
for i, num_out_channel in enumerate(mlp):
new_points1 = tf_util.conv2d(new_points1,
num_out_channel, [1, 1],
padding='VALID',
stride=[1, 1],
bn=bn,
is_training=is_training,
scope='conv_%d' % (i),
bn_decay=bn_decay,
weight_decay=weight_decay)
new_points1 = tf.squeeze(new_points1, [2]) # B,ndataset1,mlp[-1]
return new_points1
def get_model(point_input, labels_pl, is_training, bn_decay=None, coarse_flag=0,
mmd_flag=0, pfs_flag=False, fully_concate=False):
""" Seg, input is BxNx9, output BxNx13 """
batch_size = point_input.get_shape()[0].value
num_point1 = point_input.get_shape()[1].value
num_point2 = int(np.floor(num_point1 / 4.0))
num_point3 = int(np.floor(num_point2 / 4.0))
# num_point4 = int(np.floor(num_point3 / 4.0))
end_points = {}
k = 10
pk = 10
de1_1 = 1
de1_2 = 2
de2_1 = 1
de2_2 = 2
de3_1 = 1
de3_2 = 2
r1_11 = 0
r1_12 = 0.1
r1_21 = 0
r1_22 = 0.2
r2_11 = 0
r2_12 = 0.4
r2_21 = 0
r2_22 = 0.8
r3_11 = 0
r3_12 = 1.6
r3_21 = 0
r3_22 = 3.2
p1_1 = 0
p1_2 = 0.4
p2_1 = 0
p2_2 = 1.6
# activation_fn = tf.math.softplus
activation_fn = tf.nn.relu
##################################################################################################
# Hierarchy 1
point_cloud1 = tf.slice(point_input, [0, 0, 0], [-1, -1, 3])
hie_matrix1 = tf.math.maximum(tf.sqrt(tf_util.pairwise_distance(point_cloud1)), 1e-20)
# dist_matrix1_1 = hie_matrix1
# dist_matrix1_2 = hie_matrix1
dist_matrix1_1 = None
dist_matrix1_2 = None
adj_matrix = tf_util.pairwise_distance(point_cloud1)
net1_1 = pan_util.point_atrous_conv(point_input, adj_matrix, dist_matrix1_1, k, de1_1, r1_11, r1_12, 64,
scope='page1_1', bn=True, bn_decay=bn_decay, is_training=is_training, activation_fn=activation_fn)
adj_matrix = tf_util.pairwise_distance(net1_1)
net1_2 = pan_util.point_atrous_conv(net1_1, adj_matrix, dist_matrix1_2, k, de1_2, r1_21, r1_22, 64,
scope='page1_2', bn=True, bn_decay=bn_decay, is_training=is_training, activation_fn=activation_fn)
net = tf.squeeze(net1_2)
##################################################################################################
# Hierarchy 2
dist_threshold1 = False
net, p1_idx, _, point_cloud2 = pan_util.edge_preserve_sampling(net, point_cloud1, num_point2, hie_matrix1,
dist_threshold1, pk, 1, p1_1, p1_2, pfs_flag, atrous_flag=False)
# point_cloud2 = gather_point(point_cloud1, p1_idx)
hie_matrix2 = tf.math.maximum(tf.sqrt(tf_util.pairwise_distance(point_cloud2)), 1e-20)
# dist_matrix2_1 = hie_matrix2
# dist_matrix2_2 = hie_matrix2
dist_matrix2_1 = None
dist_matrix2_2 = None
adj_matrix = tf_util.pairwise_distance(net)
net2_1 = pan_util.point_atrous_conv(net, adj_matrix, dist_matrix2_1, k, de2_1, r2_11, r2_12, 128,
scope='page2_1', bn=True, bn_decay=bn_decay, is_training=is_training, activation_fn=activation_fn)
adj_matrix = tf_util.pairwise_distance(net2_1)
net2_2 = pan_util.point_atrous_conv(net2_1, adj_matrix, dist_matrix2_2, k, de2_2, r2_21, r2_22, 128,
scope='page2_2', bn=True, bn_decay=bn_decay, is_training=is_training, activation_fn=activation_fn)
net = tf.squeeze(net2_2)
##################################################################################################
# Hierarchy 3
dist_threshold2 = False
net, p2_idx, _, point_cloud3 = pan_util.edge_preserve_sampling(net, point_cloud2, num_point3, hie_matrix2,
dist_threshold2, pk, 1, p2_1, p2_2, pfs_flag, atrous_flag=False)
# point_cloud3 = gather_point(point_cloud2, p2_idx)
hie_matrix3 = tf.math.maximum(tf.sqrt(tf_util.pairwise_distance(point_cloud3)), 1e-20)
# dist_matrix3_1 = hie_matrix3
# dist_matrix3_2 = hie_matrix3
dist_matrix3_1 = None
dist_matrix3_2 = None
adj_matrix = tf_util.pairwise_distance(net)
net3_1 = pan_util.point_atrous_conv(net, adj_matrix, dist_matrix3_1, k, de3_1, r3_11, r3_12, 256,
scope='page3_1', bn=True, bn_decay=bn_decay, is_training=is_training, activation_fn=activation_fn)
adj_matrix = tf_util.pairwise_distance(net3_1)
net3_2 = pan_util.point_atrous_conv(net3_1, adj_matrix, dist_matrix3_2, k, de3_2, r3_21, r3_22, 256,
scope='page3_2', bn=True, bn_decay=bn_decay, is_training=is_training, activation_fn=activation_fn)
##################################################################################################
# Embeded Features
net = tf_util.conv2d(net3_2, 1024, [1,1],
padding='VALID', stride=[1,1], activation_fn=activation_fn,
bn=True, is_training=is_training,
scope='encoder', bn_decay=bn_decay)
net = tf.reduce_max(net, axis=1, keepdims=True)
net = tf.reshape(net, [batch_size, -1])
net = tf_util.fully_connected(net, 512, bn=True, is_training=is_training, activation_fn=None,
scope='rg1', bn_decay=bn_decay)
if mmd_flag > 0:
end_points['embedding'] = net
else:
end_points['embedding'] = None
net = tf_util.dropout(net, keep_prob=0.5, is_training=is_training, scope='rgdp1')
global_feature_size = 1024
net = tf_util.fully_connected(net, global_feature_size, bn=True, is_training=is_training, activation_fn=activation_fn,
scope='rg2', bn_decay=bn_decay)
net = tf_util.dropout(net, keep_prob=0.5, is_training=is_training, scope='rgdp2')
net = tf.reshape(net, [batch_size, 1, 1, global_feature_size])
net = tf.tile(net, [1, num_point3, 1, 1])
net = tf.concat([net, net3_2], axis=-1)
net = tf_util.conv2d(net, 512, [1,1],
padding='VALID', stride=[1,1], activation_fn=activation_fn,
bn=True, is_training=is_training,
scope='decoder', bn_decay=bn_decay)
if coarse_flag > 0:
coarse_net = tf.squeeze(net)
coarse_net = tf_util.conv1d(coarse_net, 128, 1, padding='VALID', bn=True, activation_fn=activation_fn,
is_training=is_training, scope='coarse_fc1', bn_decay=bn_decay)
coarse_net = tf_util.dropout(coarse_net, keep_prob=0.5, is_training=is_training, scope='cdp1')
coarse_net = tf_util.conv1d(coarse_net, 50, 1, padding='VALID', activation_fn=None, scope='coarse_fc2')
coarse_labels_pl = tf_util.gather_labels(labels_pl, p1_idx)
coarse_labels_pl = tf_util.gather_labels(coarse_labels_pl, p2_idx)
end_points['coarse_pred'] = coarse_net
end_points['coarse_label'] = coarse_labels_pl
else:
end_points['coarse_pred'] = None
end_points['coarse_label'] = None
##################################################################################################
# Hierarchy 3
adj_matrix = tf_util.pairwise_distance(net)
net3_2 = pan_util.point_atrous_conv(net, adj_matrix, dist_matrix3_2, k, de3_2, r3_21, r3_22, 256,
scope='pagd3_2', bn=True, bn_decay=bn_decay, is_training=is_training, activation_fn=activation_fn)
net = tf.concat([net3_2, net3_1], axis=-1)
if fully_concate:
net3_2 = tf.squeeze(net3_2)
adj_matrix = tf_util.pairwise_distance(net)
net3_1 = pan_util.point_atrous_conv(net, adj_matrix, dist_matrix3_1, k, de3_1, r3_11, r3_12, 256,
scope='pagd3_1', bn=True, bn_decay=bn_decay, is_training=is_training, activation_fn=activation_fn)
net3_1 = tf.squeeze(net3_1)
##################################################################################################
# Hierarchy 2
idx, weight = pan_util.three_nn_upsampling(point_cloud2, point_cloud3)
net3_1 = three_interpolate(net3_1, idx, weight)
if fully_concate:
net3_2 = three_interpolate(net3_2, idx, weight)
net = tf.concat([tf.expand_dims(net3_1, 2), net2_2], axis=-1)
adj_matrix = tf_util.pairwise_distance(net)
net2_2 = pan_util.point_atrous_conv(net, adj_matrix, dist_matrix2_2, k, de2_2, r2_21, r2_22, 128,
scope='pagd2_2', bn=True, bn_decay=bn_decay, is_training=is_training, activation_fn=activation_fn)
net = tf.concat([net2_2, net2_1], axis=-1)
if fully_concate:
net2_2 = tf.squeeze(net2_2)
adj_matrix = tf_util.pairwise_distance(net)
net2_1 = pan_util.point_atrous_conv(net, adj_matrix, dist_matrix2_1, k, de2_1, r2_11, r2_12, 128,
scope='pagd2_1', bn=True, bn_decay=bn_decay, is_training=is_training, activation_fn=activation_fn)
net2_1 = tf.squeeze(net2_1)
##################################################################################################
# Hierarchy 1
idx, weight = pan_util.three_nn_upsampling(point_cloud1, point_cloud2)
net2_1 = three_interpolate(net2_1, idx, weight)
net3_1 = three_interpolate(net3_1, idx, weight)
if fully_concate:
net2_2 = three_interpolate(net2_2, idx, weight)
net3_2 = three_interpolate(net3_2, idx, weight)
net = tf.concat([tf.expand_dims(net2_1, 2), net1_2], axis=-1)
adj_matrix = tf_util.pairwise_distance(net)
net1_2 = pan_util.point_atrous_conv(net, adj_matrix, dist_matrix1_2, k, de1_2, r1_21, r1_22, 64,
scope='pagd1_2', bn=True, bn_decay=bn_decay, is_training=is_training, activation_fn=activation_fn)
net = tf.concat([net1_2, net1_1], axis=-1)
adj_matrix = tf_util.pairwise_distance(net)
net1_1 = pan_util.point_atrous_conv(net, adj_matrix, dist_matrix1_1, k, de1_1, r1_11, r1_12, 64,
scope='pagd1_1', bn=True, bn_decay=bn_decay, is_training=is_training, activation_fn=activation_fn)
##################################################################################################
# Final Prediction
if fully_concate:
net = tf.concat([net1_1, net1_2, tf.expand_dims(net2_1, 2), tf.expand_dims(net2_2, 2), tf.expand_dims(net3_1, 2), tf.expand_dims(net3_2, 2)], axis=-1)
else:
net = tf.concat([net1_1, tf.expand_dims(net2_1, 2), tf.expand_dims(net3_1, 2)], axis=-1)
net = tf.squeeze(net)
net = tf_util.conv1d(net, 128, 1, padding='VALID', bn=True, activation_fn=activation_fn,
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.conv1d(net, 13, 1, padding='VALID', activation_fn=None, scope='fc2')
return net, end_points
def deconv_new(pts,
fts,
qrs,
tag,
N,
K,
radius,
P,
C,
C_pts_fts,
is_training,
with_X_transformation,
depth_multiplier,
D=1,
sorting_method=None,
with_global=False,
knn=False):
"""
pts: points of previous layer, e.g.,(B, N/2, 3)
fts: point features of previous layer, e.g.,(B, N/2, C)
qrs: selected representative points of this layer, e.g.,(B, N, 3)
N: batch_size,
K: neighbor_size,
D: dilation parameter,
P: the number of selected representative points,
C: output feature number per point,
C_pts_fts: feature number for each local point
radius: float32, the radius of query ball search
knn: True: knn; False: query ball
"""
dist, idx = three_nn(qrs, pts)
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum((1.0 / dist), axis=2, keep_dims=True)
norm = tf.tile(norm, [1, 1, 3])
weight = (1.0 / dist) / norm
interpolated_fts = three_interpolate(fts, idx, weight) # (B, N, C)
if knn:
_, indices_dilated = pf.knn_indices_general(qrs, qrs, K * D, True)
indices = indices_dilated[:, :, ::D, :]
nn_pts = tf.gather_nd(qrs, indices,
name=tag + 'nn_pts') # (B, N, K, 3)
nn_fts_from_prev = tf.gather_nd(interpolated_fts,
indices,
name=tag + 'nn_fts')
else:
indices, pts_cnt = query_ball_point(radius, K, qrs, qrs)
nn_pts = group_point(qrs, indices)
nn_fts_from_prev = group_point(interpolated_fts, indices)
nn_pts_center = tf.expand_dims(qrs, axis=2,
name=tag + 'nn_pts_center') # (B, N, 1, 3)
nn_pts_local = tf.subtract(nn_pts,
nn_pts_center,
name=tag + 'nn_pts_local') # (B, N, K, 3)
# Prepare features to be transformed
nn_fts_from_pts_0 = pf.dense(nn_pts_local, C_pts_fts,
tag + 'nn_fts_from_pts_0', is_training)
nn_fts_from_pts = pf.dense(nn_fts_from_pts_0, C_pts_fts,
tag + 'nn_fts_from_pts', is_training)
nn_fts_input = tf.concat([nn_fts_from_pts, nn_fts_from_prev],
axis=-1,
name=tag + 'nn_fts_input')
if with_X_transformation:
######################## X-transformation #########################
X_0 = pf.conv2d(nn_pts_local, K * K, tag + 'X_0', is_training,
(1, K)) # following paper
X_0_KK = tf.reshape(X_0, (N, P, K, K), name=tag + 'X_0_KK')
X_1 = pf.depthwise_conv2d(X_0_KK, K, tag + 'X_1', is_training,
(1, K)) # following paper
X_1_KK = tf.reshape(X_1, (N, P, K, K), name=tag + 'X_1_KK')
X_2 = pf.depthwise_conv2d(X_1_KK,
K,
tag + 'X_2',
is_training, (1, K),
activation=None) # following paper
X_2_KK = tf.reshape(X_2, (N, P, K, K), name=tag + 'X_2_KK')
fts_X = tf.matmul(X_2_KK, nn_fts_input, name=tag + 'fts_X')
###################################################################
else:
fts_X = nn_fts_input
fts_conv = pf.separable_conv2d(fts_X,
C,
tag + 'fts_conv',
is_training, (1, K),
depth_multiplier=depth_multiplier)
fts_conv_3d = tf.squeeze(fts_conv, axis=2, name=tag + 'fts_conv_3d')
if with_global:
fts_global_0 = pf.dense(qrs, C // 4, tag + 'fts_global_0', is_training)
fts_global = pf.dense(fts_global_0, C // 4, tag + 'fts_global_',
is_training)
return tf.concat([fts_global, fts_conv_3d],
axis=-1,
name=tag + 'fts_conv_3d_with_global')
else:
return fts_conv_3d
def PointASNLDecodingLayer(xyz1,
xyz2,
points1,
points2,
nsample,
mlp,
is_training,
bn_decay,
weight_decay,
scope,
bn=True,
use_xyz=True,
use_knn=True,
radius=None,
dilate_rate=1,
mode='concat',
NL=False):
''' Input:
xyz1: (batch_size, ndataset1, 3) TF tensor
xyz2: (batch_size, ndataset2, 3) TF tensor, sparser than xyz1
points1: (batch_size, ndataset1, nchannel1) TF tensor
points2: (batch_size, ndataset2, nchannel2) TF tensor
K: int32 -- how many points in each local region
mlp: list of int32 -- output size for MLP on each point
Return:
new_points: (batch_size, ndataset1, mlp[-1]) TF tensor
'''
with tf.variable_scope(scope) as sc:
batch_size, num_points, num_channel = points2.get_shape()
dist, idx = three_nn(xyz1, xyz2)
dist = tf.maximum(dist, 1e-10)
norm = tf.reduce_sum((1.0 / dist), axis=2, keepdims=True)
norm = tf.tile(norm, [1, 1, 3])
weight = (1.0 / dist) / norm
'''Point NonLocal Cell'''
if NL:
new_nonlocal_point = PointNonLocalCell(
points1,
tf.expand_dims(points2,
axis=1), [max(32, num_channel), num_channel],
is_training,
bn_decay,
weight_decay,
scope,
bn,
mode=mode)
new_nonlocal_point = tf.squeeze(
new_nonlocal_point, [1]) # (batch_size, npoints, mlp2[-1])
points2 = tf.add(points2, new_nonlocal_point)
interpolated_points = three_interpolate(points2, idx, weight)
'''Point Local Cell'''
grouped_xyz, grouped_feature, idx = grouping(interpolated_points,
nsample,
xyz1,
xyz1,
use_xyz=use_xyz,
use_knn=use_knn,
radius=radius)
grouped_xyz -= tf.tile(tf.expand_dims(xyz1, 2),
[1, 1, nsample, 1]) # translation normalization
weight = weight_net_hidden(grouped_xyz, [32],
scope='decode_weight_net',
is_training=is_training,
bn_decay=bn_decay,
weight_decay=weight_decay)
new_points = grouped_feature
new_points = tf.transpose(new_points, [0, 1, 3, 2])
new_points = tf.matmul(new_points, weight)
new_points = tf_util.conv2d(new_points,
mlp[0],
[1, new_points.get_shape()[2].value],
padding='VALID',
stride=[1, 1],
bn=bn,
is_training=is_training,
scope='decode_after_conv',
bn_decay=bn_decay,
weight_decay=weight_decay)
if points1 is not None:
new_points1 = tf.concat(axis=-1,
values=[
new_points,
tf.expand_dims(points1, axis=2)
]) # B,ndataset1,nchannel1+nchannel2
else:
new_points1 = new_points
for i, num_out_channel in enumerate(mlp):
if i != 0:
new_points1 = tf_util.conv2d(new_points1,
num_out_channel, [1, 1],
padding='VALID',
stride=[1, 1],
bn=bn,
is_training=is_training,
scope='conv_%d' % (i),
bn_decay=bn_decay,
weight_decay=weight_decay)
new_points = tf.squeeze(new_points1, [2]) # B,ndataset1,mlp[-1]
return new_points
def get_model(point_input, labels_pl, is_training, bn_decay=None, coarse_flag=0,
mmd_flag=0, pfs_flag=False, fully_concate=False):
batch_size = point_input.get_shape()[0].value
num_point1 = point_input.get_shape()[1].value
num_point2 = int(np.floor(num_point1 / 4.0))
num_point3 = int(np.floor(num_point2 / 4.0))
end_points = {}
activation_fn = tf.nn.relu
point_cloud1 = tf.slice(point_input, [0, 0, 0], [-1, -1, 3])
k = 16
nn_idx = pointSIFT_select_two(point_cloud1, 0.2)
net1_1 = tf_util.attention_conv(point_cloud1, point_input, 64, nn_idx, k, scope='conv_1_1', bn=False,
bn_decay=bn_decay, is_training=is_training)
net1_2 = tf_util.attention_conv(point_cloud1, net1_1, 64, nn_idx, k, scope='conv_1_2', bn=False, bn_decay=bn_decay,
is_training=is_training)
k = 20
net, p1_idx, pn_idx, point_cloud2 = tf_util.attention_pooling(net1_2, point_cloud1, num_point2, k, scope='12',
bn_decay=bn_decay, is_training=is_training)
k = 8
nn_idx = pointSIFT_select(point_cloud2, 0.4)
net2_1 = tf_util.attention_conv(point_cloud2, net, 64, nn_idx, k, scope='conv_2_1', bn=False, bn_decay=bn_decay,
is_training=is_training)
net2_2 = tf_util.attention_conv(point_cloud2, net2_1, 64, nn_idx, k, scope='conv_2_2', bn=False, bn_decay=bn_decay,
is_training=is_training)
k = 20
net, p2_idx, pn_idx, point_cloud3 = tf_util.attention_pooling(net2_2, point_cloud2, num_point3, k, scope='13',
bn_decay=bn_decay, is_training=is_training)
k = 8
nn_idx = pointSIFT_select(point_cloud3, 0.7)
net3_1 = tf_util.attention_conv(point_cloud3, net, 128, nn_idx, k, scope='conv_3_1', bn=False,
bn_decay=bn_decay,
is_training=is_training)
net3_2 = tf_util.attention_conv(point_cloud3, net3_1, 128, nn_idx, k, scope='conv_3_2', bn=False,
bn_decay=bn_decay,
is_training=is_training)
net3_2 = tf.expand_dims(net3_2, 2)
net = tf_util.conv2d(net3_2, 1024, [1, 1],
padding='VALID', stride=[1, 1], activation_fn=activation_fn,
bn=False, is_training=is_training,
scope='encoder', bn_decay=bn_decay)
net = tf.reduce_max(net, axis=1, keepdims=True)
net = tf.reshape(net, [batch_size, -1])
net = tf_util.fully_connected(net, 512, bn=False, is_training=is_training, activation_fn=None,
scope='rg1', bn_decay=bn_decay)
if mmd_flag > 0:
end_points['embedding'] = net
else:
end_points['embedding'] = None
net = tf_util.dropout(net, keep_prob=0.5, is_training=is_training, scope='rgdp1')
global_feature_size = 1024
net = tf_util.fully_connected(net, global_feature_size, bn=False, is_training=is_training,
activation_fn=activation_fn,
scope='rg2', bn_decay=bn_decay)
net = tf_util.dropout(net, keep_prob=0.5, is_training=is_training, scope='rgdp2')
net = tf.reshape(net, [batch_size, 1, 1, global_feature_size])
net = tf.tile(net, [1, num_point3, 1, 1])
net = tf.concat([net, net3_2], axis=-1)
net = tf_util.conv2d(net, 512, [1, 1],
padding='VALID', stride=[1, 1], activation_fn=activation_fn,
bn=False, is_training=is_training,
scope='decoder', bn_decay=bn_decay)
if coarse_flag > 0:
coarse_net = tf.squeeze(net, [2])
coarse_net = tf_util.conv1d(coarse_net, 128, 1, padding='VALID', bn=False, activation_fn=activation_fn,
is_training=is_training, scope='coarse_fc1', bn_decay=bn_decay)
coarse_net = tf_util.dropout(coarse_net, keep_prob=0.5, is_training=is_training, scope='cdp1')
coarse_net = tf_util.conv1d(coarse_net, 50, 1, padding='VALID', activation_fn=None, scope='coarse_fc2')
coarse_labels_pl = tf_util.gather_labels(labels_pl, p1_idx)
coarse_labels_pl = tf_util.gather_labels(coarse_labels_pl, p2_idx)
end_points['coarse_pred'] = coarse_net
end_points['coarse_label'] = coarse_labels_pl
else:
end_points['coarse_pred'] = None
end_points['coarse_label'] = None
k = 8
nn_idx = pointSIFT_select(point_cloud3, 0.7)
net3_2 = tf_util.attention_conv(point_cloud3, tf.squeeze(net,[2]), 128, nn_idx, k, scope='conv_4_1', bn=False,
bn_decay=bn_decay,
is_training=is_training)
net = tf.concat([net3_2, net3_1], axis=-1)
net3_1 = tf_util.attention_conv(point_cloud3, net, 128, nn_idx, k, scope='conv_4_2', bn=False,
bn_decay=bn_decay,
is_training=is_training)
idx, weight = tf_util.three_nn_upsampling(point_cloud2, point_cloud3)
net3_1 = three_interpolate(net3_1, idx, weight)
if fully_concate:
net3_2 = three_interpolate(net3_2, idx, weight)
net = tf.concat([net3_1, net2_2], axis=-1)
k = 8
nn_idx = pointSIFT_select(point_cloud2, 0.4)
net2_2 = tf_util.attention_conv(point_cloud2, net, 64, nn_idx, k, scope='conv_5_1', bn=False,
bn_decay=bn_decay,
is_training=is_training)
net = tf.concat([net2_2, net2_1], axis=-1)
net2_1 = tf_util.attention_conv(point_cloud2, net, 64, nn_idx, k, scope='conv_5_2', bn=False,
bn_decay=bn_decay,
is_training=is_training)
idx, weight = tf_util.three_nn_upsampling(point_cloud1, point_cloud2)
net2_1 = three_interpolate(net2_1, idx, weight)
net3_1 = three_interpolate(net3_1, idx, weight)
if fully_concate:
net2_2 = three_interpolate(net2_2, idx, weight)
net3_2 = three_interpolate(net3_2, idx, weight)
net = tf.concat([net2_1, net1_2], axis=-1)
k = 16
nn_idx = pointSIFT_select_two(point_cloud1, 0.2)
net1_2 = tf_util.attention_conv(point_cloud1, net, 64, nn_idx, k, scope='conv_6_1', bn=False,
bn_decay=bn_decay,
is_training=is_training)
net = tf.concat([net1_2, net1_1], axis=-1)
net1_1 = tf_util.attention_conv(point_cloud1, net, 64, nn_idx, k, scope='conv_6_2', bn=False,
bn_decay=bn_decay,
is_training=is_training)
if fully_concate:
net = tf.concat(
[net1_1, net1_2, net2_1, net2_2, net3_1,
net3_2], axis=-1)
else:
net = tf.concat([net1_1, tf.expand_dims(net2_1, 2), tf.expand_dims(net3_1, 2)], axis=-1)
net = tf_util.conv1d(net, 128, 1, padding='VALID', bn=False, activation_fn=activation_fn,
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.conv1d(net, 13, 1, padding='VALID', activation_fn=None, scope='fc2')
return net, end_points