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(
pointops.QueryAndGroup(radius, nsample, use_xyz=use_xyz)
if npoint is not None else pointops.GroupAll(use_xyz)
)
mlp_spec = mlps[i]
if use_xyz:
mlp_spec[0] += 3
self.mlps.append(pt_util.SharedMLP(mlp_spec, bn=bn))
def __init__(self,
npoint=None,
nsample=None,
mlp=None,
mlp2=None,
bn=True,
use_xyz=True,
use_bn=True):
super().__init__()
self.npoint = npoint
self.grouper = pointops.QueryAndGroup(
nsample=nsample, use_xyz=use_xyz
) if npoint is not None else pointops.GroupAll(use_xyz)
if use_xyz:
mlp[0] += 3
if npoint is not None:
mlp_tmp = pt_util.SharedMLP([mlp[0]] + mlp2, bn=use_bn)
mlp_tmp.add_module('weight', (pt_util.SharedMLP(
[mlp2[-1], mlp[0]], bn=False, activation=None)))
self.afa = _AFAModule(mlp=mlp_tmp)
self.mlp = pt_util.SharedMLP(mlp, bn=bn)
def __init__(self, *, npoint: int, radii: List[float], nsamples: List[int], sp_knns: List[int], sp_nums: 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.sp_knnquery = nn.ModuleList()
self.sp_knngroup = nn.ModuleList()
self.sp_knnquery_for_3rd = nn.ModuleList()
self.sp_group = nn.ModuleList()
self.sp_knnquery3 = nn.ModuleList()
self.sp_knngroup3 = nn.ModuleList()
self.mlps_1d = nn.ModuleList()
self.mlps_delta_xyz = nn.ModuleList()
self.mlps_delta_fea = nn.ModuleList()
self.mlps_w = nn.ModuleList()
self.mlps_new = nn.ModuleList()
self.mlps_delta_xyz2 = nn.ModuleList()
self.mlps_w2 = nn.ModuleList()
self.mlps_w3 = nn.ModuleList()
self.mlps_sp_fea3 = nn.ModuleList()
self.list_sp_num = []
for i in range(len(radii)):
radius = radii[i]
nsample = nsamples[i]
sp_knn = sp_knns[i]
sp_num = sp_nums[i]
print('radius: {} nsample: {} sp_knn: {} sp_num: {}'.format(radius, nsample, sp_knn, sp_num))
self.groupers.append(
pointops.PointNL_QueryAndGroup(radius, nsample, use_xyz=use_xyz)
if npoint is not None else pointops.GroupAll(use_xyz)
)
self.sp_knnquery.append(
pointops.SP_KNNQuery(nsample=sp_knn)
)
self.sp_knnquery_for_3rd.append(
pointops.SP_KNNQuery(nsample=sp_num)
)
self.sp_knngroup.append(
pointops.SP_KNNGroup_V1(use_xyz=use_xyz)
)
self.sp_knnquery3.append(
pointops.SP_KNNQuery(nsample=sp_knn)
)
self.sp_knngroup3.append(
pointops.SP_KNNGroup_V1(use_xyz=use_xyz)
)
self.sp_group.append(
pointops.SP_Group()
)
self.list_sp_num.append(sp_num)
mlp_spec = mlps[i]
if use_xyz:
mlp_spec[0] += 0
self.mlps_1d.append(pt_util.SharedMLP_1d(mlp_spec, bn=bn))
self.mlps_delta_xyz.append(pt_util.SharedMLP([3, 32, 16], bn=bn))
self.mlps_delta_xyz2.append(pt_util.SharedMLP([3, 32, 16], bn=bn))
self.mlps_w.append(pt_util.SharedMLP([mlp_spec[-1]+3, 32, 64, mlp_spec[-1]+16], bn=bn))
self.mlps_w2.append(pt_util.SharedMLP([mlp_spec[-1]+16+3, 64, mlp_spec[-1]+16*2], bn=bn))
self.mlps_w3.append(pt_util.SharedMLP([mlp_spec[-1]+16*2, 32, 64, mlp_spec[-1]+16*2], bn=bn))
self.mlps_sp_fea3.append(pt_util.SharedMLP([mlp_spec[-1]+16*2+3, 32, 64, mlp_spec[-1]], bn=bn))
if i<2:
self.mlps_new.append(pt_util.SharedMLP_1d([mlp_spec[-1]*7+16*8, 256, mlp_spec[-1]], bn=bn))
elif i==2:
self.mlps_new.append(pt_util.SharedMLP_1d([mlp_spec[-1]*7+16*8, 512, mlp_spec[-1]], bn=bn))
else:
self.mlps_new.append(pt_util.SharedMLP_1d([mlp_spec[-1]*7+16*8, 1024, mlp_spec[-1]], bn=bn))