def _restart(self):
# make a deep copy
data = [d.copy() for d in self.data_copy]
label = [l.copy() for l in self.label_copy]
label_mask = [l.copy() for l in self.label_mask_copy]
# duplicate if necessary to fill batch
num_samples = len(data)
if num_samples < self.batch_size:
idx = np.concatenate((np.tile(np.arange(num_samples), (self.batch_size // num_samples, )),
np.random.permutation(num_samples)[:(self.batch_size % num_samples)]), axis=0)
data, label_mask, label = [data[i] for i in idx], [label_mask[i] for i in idx], [label[i] for i in idx]
num_samples = self.batch_size
# shuffle samples
idx = np.random.permutation(num_samples)
data, label_mask, label = [data[i] for i in idx], [label_mask[i] for i in idx], [label[i] for i in idx]
# sample to a fixed length
for i in range(num_samples):
k = len(data[i])
idx = np.concatenate((np.tile(np.arange(k), (self.sample_size // k, )),
np.random.permutation(k)[:(self.sample_size % k)]), axis=0)
data[i] = data[i][idx, :]
label[i] = label[i][idx]
data = np.concatenate(data, axis=0) # (NxS) x C
label = np.concatenate(label, axis=0) # (NxS)
label_mask = np.concatenate([l.reshape(1, -1, 1, 1) for l in label_mask], axis=0) # N x 50 x 1 x 1
# data aug.
if self.jitter_rotation > 0:
rotations = (('x', (2 * np.random.rand() - 1) * self.jitter_rotation * np.pi / 180.0),
('y', (2 * np.random.rand() - 1) * self.jitter_rotation * np.pi / 180.0),
('z', (2 * np.random.rand() - 1) * self.jitter_rotation * np.pi / 180.0))
if 'x' in self.raw_dims:
feat_idx = self.raw_dims.index('x')
data[:, feat_idx:feat_idx + 3] = rotate_3d(data[:, feat_idx:feat_idx + 3], rotations)
if 'nx' in self.raw_dims:
feat_idx = self.raw_dims.index('nx')
data[:, feat_idx:feat_idx + 3] = rotate_3d(data[:, feat_idx:feat_idx + 3], rotations)
if self.jitter_stretch > 0:
stretch_strength = (2 * np.random.rand(3) - 1) * self.jitter_stretch + 1
if 'x' in self.raw_dims:
feat_idx = self.raw_dims.index('x')
data[:, feat_idx:feat_idx + 3] *= stretch_strength
if 'nx' in self.raw_dims:
feat_idx = self.raw_dims.index('nx')
data[:, feat_idx:feat_idx + 3] *= stretch_strength
data[:, feat_idx:feat_idx + 3] /= np.sqrt(
np.power(data[:, feat_idx:feat_idx + 3], 2).sum(axis=1, keepdims=True))
if self.jitter_xyz > 0 and 'x' in self.raw_dims:
feat_idx = self.raw_dims.index('x')
data[:, feat_idx:feat_idx + 3] += ((2 * np.random.rand(3) - 1) * self.jitter_xyz)
# reshape and reset index
self.data = data[:, self.feat_dims].reshape(num_samples, self.sample_size, -1, 1).transpose(0, 2, 3, 1)
self.label = label.reshape(num_samples, self.sample_size, -1, 1).transpose(0, 2, 3, 1)
self.label_mask = label_mask
self.index = 0
def _data_processing_batch(self, data, label):
data = np.concatenate(data, axis=0) # (NxS) x C
label = np.concatenate(label, axis=0) # (NxS)
# data aug. # TODO should this be done at batch level?
if self.jitter_rotation > 0:
rotations = (('x', (2 * np.random.rand() - 1) * self.jitter_rotation * np.pi / 180.0),
('y', (2 * np.random.rand() - 1) * self.jitter_rotation * np.pi / 180.0),
('z', (2 * np.random.rand() - 1) * self.jitter_rotation * np.pi / 180.0))
if 'x' in self.raw_dims:
feat_idx = self.raw_dims.index('x')
data[:, feat_idx:feat_idx + 3] = rotate_3d(data[:, feat_idx:feat_idx + 3], rotations)
if 'r' in self.raw_dims:
feat_idx = self.raw_dims.index('r')
data[:, feat_idx:feat_idx + 3] = rotate_3d(data[:, feat_idx:feat_idx + 3], rotations)
if self.jitter_stretch > 0:
stretch_strength = (2 * np.random.rand(3) - 1) * self.jitter_stretch + 1
if 'x' in self.raw_dims:
feat_idx = self.raw_dims.index('x')
data[:, feat_idx:feat_idx + 3] *= stretch_strength
if 'r' in self.raw_dims:
feat_idx = self.raw_dims.index('r')
data[:, feat_idx:feat_idx + 3] *= stretch_strength
data[:, feat_idx:feat_idx + 3] /= np.sqrt(
np.power(data[:, feat_idx:feat_idx + 3], 2).sum(axis=1, keepdims=True))
if self.jitter_xyz > 0 and 'x' in self.raw_dims:
feat_idx = self.raw_dims.index('x')
data[:, feat_idx:feat_idx + 3] += ((2 * np.random.rand(3) - 1) * self.jitter_xyz)
return data, label
def forward(self, bottom, top):
points_per_batch = self.sample_size * self.batch_size
data, label = self.data[self.idx:self.idx+points_per_batch].reshape(self.batch_size, self.sample_size, -1), \
self.label[self.idx:self.idx+points_per_batch]
# jittering TODO: improve performance (e.g. move some computation to done at once for all samples?)
for i in range(self.batch_size):
if self.jitter_color is not None:
feat_idx = self.raw_dims.index('r')
data[i, :, feat_idx:feat_idx + 3] += np.random.randn(3).dot(
self.jitter_color.T)
# clipping to [0, 255]
data[i, :, feat_idx:feat_idx + 3] = np.maximum(
0.0, np.minimum(255.0, data[i, :, feat_idx:feat_idx + 3]))
if self.jitter_h is not None:
feat_idx = self.raw_dims.index('h')
data[i, :, feat_idx] += np.random.randn(
self.sample_size) * self.jitter_h
if self.jitter_rotation:
rotations = (('z', np.random.rand() * np.pi / 8 - np.pi / 16),
('x', np.random.rand() * np.pi / 8 - np.pi / 16),
('y', np.random.rand() * np.pi * 2))
if 'x' in self.raw_dims:
feat_idx = self.raw_dims.index('x')
center = (np.mean(data[i, :, feat_idx]),
np.max(data[i, :, feat_idx + 1]),
np.mean(data[i, :, feat_idx + 2]))
data[i, :, feat_idx:feat_idx + 3] = rotate_3d(
data[i, :, feat_idx:feat_idx + 3], rotations, center)
if 'nx' in self.raw_dims:
feat_idx = self.raw_dims.index('nx')
data[i, :, feat_idx:feat_idx + 3] = rotate_3d(
data[i, :, feat_idx:feat_idx + 3], rotations)
# slicing and scaling
idxs, scs = [v[0] for v in self.feat_scales
], [v[1] for v in self.feat_scales]
data = data[:, :, idxs] * np.array(scs)
top[0].data[...] = data.reshape(self.batch_size, self.sample_size, -1,
1).transpose(0, 2, 3, 1)
top[1].data[...] = label.reshape(self.batch_size, self.sample_size, -1,
1).transpose(0, 2, 3, 1)
self.idx += points_per_batch
if self.idx + points_per_batch > len(self.data):
self._restart()
