def __init__(self, num_parts: int = 50):
super().__init__()
self.num_parts = 50
self.drop = nn.Dropout2d(p=0.2)
self.fc1 = pt_utils.Conv2d(1456, 256, bn=True)
self.fc2 = pt_utils.Conv2d(256, 256, bn=True)
self.fc3 = pt_utils.Conv2d(256, 128, bn=True)
self.fc4 = pt_utils.Conv2d(128,
self.num_parts,
bn=False,
activation=None)
def __init__(self, num_parts: int = 50):
super().__init__()
self.drop = nn.Dropout2d(p=0.4)
self.num_parts = num_parts
self.fc1 = pt_utils.Conv2d(128 + 1024 + 64 * 9 + 1024, 256,
bn=True) # has relu
self.fc2 = pt_utils.Conv2d(256, 256, bn=True)
self.fc3 = pt_utils.Conv2d(256, num_parts, bn=False, activation=None)
def __init__(self, d_out): # d_in = d_out//2
super(Building_block, self).__init__()
self.mlp1 = pt_utils.Conv2d(10,
d_out // 2,
kernel_size=(1, 1),
bn=True)
self.att_pooling_1 = Att_pooling(d_out, d_out // 2)
self.mlp2 = pt_utils.Conv2d(d_out // 2,
d_out // 2,
kernel_size=(1, 1),
bn=True)
self.att_pooling_2 = Att_pooling(d_out, d_out)
def __init__(self, in_channel, out_channel, taylor_channel, K_knn):
super().__init__()
self.K_knn = K_knn
self.in_channel = in_channel
self.out_channel = out_channel
self.taylor_channel = taylor_channel
self.conv1 = pt_utils.Conv2d(19,
self.taylor_channel,
bn=False,
activation=None)
self.conv2 = pt_utils.Conv2d(in_channel * taylor_channel,
out_channel,
kernel_size=[1, K_knn],
bn=True)
def __init__(self, d_in, d_out):
super(Dilated_res_block, self).__init__()
self.mlp1 = pt_utils.Conv2d(d_in,
d_out // 2,
kernel_size=(1, 1),
bn=True)
self.lfa = Building_block(d_out)
self.mlp2 = pt_utils.Conv2d(d_out,
d_out * 2,
kernel_size=(1, 1),
bn=True,
activation=None)
self.shortcut = pt_utils.Conv2d(d_in,
d_out * 2,
kernel_size=(1, 1),
bn=True,
activation=None)
def __init__(self, K_channel=3, K_knn=20):
'''
input : B x 3 x N
'''
super().__init__()
self.eps = 1e-3
self.K_channel = K_channel
self.K_knn = K_knn
self.conv1 = _baseEdgeConv(3, 64, k=K_knn, pool=False) # B x 64 x N x k
self.conv2 = pt_utils.Conv2d(64, 128, bn=True)
self.conv3 = pt_utils.Conv2d(128, 1024, bn=True)
self.fc1 = pt_utils.FC(1024, 512, bn=True)
self.fc2 = pt_utils.FC(512, 256, bn=True)
self.fc3 = pt_utils.FC(256, self.K_channel**2, bn=False, activation=None)
self.fc3.fc.weight.data.fill_(0)
self.fc3.fc.bias.data.copy_(torch.eye(self.K_channel).view(-1).float())
def __init__(self, num_classes=16, k: int = 30):
super().__init__()
self.eps = 1e-3
self.k = k
self.transform = transform_net(K_channel=3, K_knn=k)
self.num_classes = num_classes
# EdgeConv 1
self.edgeconv1_1 = _baseEdgeConv(3, 64, k=k, pool=False)
self.edgeconv1_2 = pt_utils.Conv2d(64, 64, bn=True)
# max_pool and avg_pool then send to conv1_3
self.edgeconv1_3 = pt_utils.Conv2d(128, 64, bn=True)
# output1
# EdgeConv2
self.edgeconv2_1 = _baseEdgeConv(64, 64, k=k, pool=False)
# max_pool and avg_pool then send to conv2_2
self.edgeconv2_2 = pt_utils.Conv2d(128, 64, bn=True)
# output2
self.edgeconv3_1 = _baseEdgeConv(64, 64, k=k, pool=False)
# max_pool and avg_pool then send to conv3_3
self.edgeconv3_2 = pt_utils.Conv2d(128, 64, bn=True)
# output3
# [output1, output2, output3] -> mlp(1024)
self.mlp = pt_utils.Conv2d(64 + 64 + 64, 1024, bn=True)
# one_hot_label conv
self.one_hot_expand = pt_utils.Conv2d(self.num_classes, 128, bn=True)
def __init__(self, config):
super(Network, self).__init__()
self.config = config
self.class_weights = DP.get_class_weights('SemanticKITTI')
self.fc0 = pt_utils.Conv1d(3, 8, kernel_size=1, bn=True)
self.dilated_res_blocks = nn.ModuleList()
d_in = 8
for i in range(self.config.num_layers):
d_out = self.config.d_out[i]
self.dilated_res_blocks.append(Dilated_res_block(d_in, d_out))
d_in = 2 * d_out
d_out = d_in
self.decoder_0 = pt_utils.Conv2d(d_in,
d_out,
kernel_size=(1, 1),
bn=True)
self.decoder_blocks = nn.ModuleList()
for j in range(self.config.num_layers):
if j < 3:
d_in = d_out + 2 * self.config.d_out[-j - 2]
d_out = 2 * self.config.d_out[-j - 2]
else:
d_in = 4 * self.config.d_out[-4]
d_out = 2 * self.config.d_out[-4]
self.decoder_blocks.append(
pt_utils.Conv2d(d_in, d_out, kernel_size=(1, 1), bn=True))
self.fc1 = pt_utils.Conv2d(d_out, 64, kernel_size=(1, 1), bn=True)
self.fc2 = pt_utils.Conv2d(64, 32, kernel_size=(1, 1), bn=True)
self.dropout = nn.Dropout(0.5)
self.fc3 = pt_utils.Conv2d(32,
self.config.num_classes,
kernel_size=(1, 1),
bn=False,
activation=None)
def __init__(self):
super().__init__()
inchannel = 3
self.ssg1 = _BasePointnetSSGModule(512, 0.2, 32, [inchannel, 64, 64, 128])
inchannel = 128 + 3
self.ssg2 = _BasePointnetSSGModule(128, 0.4, 64, [inchannel, 128, 128, 256])
inchannel = 256 + 3
self.SA = pt_utils.SharedMLP([inchannel, 256, 512], bn=True)
self.last_layer = pt_utils.Conv2d(512, 1024, bn=True)
def __init__(self, k: int = 20, last_bn=True):
super().__init__()
self.eps = 1e-3
self.k = k
self.last_bn = last_bn
self.transform = transform_net(K_channel=3, K_knn=self.k)
# EdgeConv 1
self.edgeconv1_1 = _baseEdgeConv(3, 64, k=k)
self.edgeconv1_2 = _baseEdgeConv(64, 64, k=k)
self.edgeconv1_3 = _baseEdgeConv(64, 64, k=k)
# EdgeConv2
self.edgeconv2_1 = _baseEdgeConv(64, 128, k=k)
# mlp1
self.mlp = pt_utils.Conv2d(
320,
1024,
bn=last_bn,
activation=None if not last_bn else nn.ReLU(inplace=True))
def __init__(self):
super().__init__()
inchannel = 3
self.msg1 = _BasePointnetMSGModule(
npoint=512,
radius=[0.1, 0.2, 0.4],
nsamples=[16, 32, 128],
mlps=[[inchannel, 32, 32, 64], [inchannel, 64, 64, 128], [inchannel, 64, 96, 128]]
)
inchannel = 64 + 128 + 128 + 3
self.msg2 = _BasePointnetMSGModule(
npoint=128,
radius=[0.2, 0.4, 0.8],
nsamples=[32, 64, 128],
mlps=[[inchannel, 64, 64, 128], [inchannel, 128, 128, 256], [inchannel, 128, 128, 256]]
)
inchannel = 128 + 256 + 256 + 3
self.SA = pt_utils.SharedMLP([inchannel, 256, 512], bn=True)
self.last_layer = pt_utils.Conv2d(512, 1024, bn=True)
def __init__(self, d_in, d_out):
super(Att_pooling, self).__init__()
self.fc = nn.Conv2d(d_in, d_in, (1, 1), bias=False)
self.mlp = pt_utils.Conv2d(d_in, d_out, kernel_size=(1, 1), bn=True)
def __init__(self, in_channel:int, out_channel:int, k:int=20, pool=True):
super().__init__()
self.eps = 1e-3
self.k = k
self.pool = pool
self.net = pt_utils.Conv2d(in_channel*2, out_channel, bn=True)
def __init__(self, K, D, P, C_in, C_out, C_delta, depth_multiplier, sampling='random', with_global=False):
super().__init__()
'''
in the first layer, C_in set to be 0, and the nn_fts_input will only be the delta feature
pts(points) : origin points -> B x 3 x N
fts(features) : origin features -> B x C x N
qrs(querys) : query points -> B x 3 x P
nn_pts_local : # B x 3 x P x K
nn_fts_input : B x C_in+C_delta x P x K
return : sample point and features
'''
self.with_global = with_global
self.sampling = sampling
if sampling=='random':
self.sample = random_indices(P)
elif sampling == 'fps':
self.sample = FarthestPointSample(P)
else :
pass
self.K = K
self.D = D
self.P = P
self.depth_multiplier = depth_multiplier
#the input tot mlp_delta is nn_pts_local(B x 3 x P x K)
self.mlp_delta = pt_utils.SharedMLP(
[3, C_delta, C_delta],
bn=True, activation=nn.ELU(inplace=True),
act_before_bn=True
)# B x C_delta x P x K
# the input to X_transform is nn_pts_local(B x 3 x P x K)
self.X_transform0 = pt_utils.Conv2d(
3,
K*K,
kernel_size=(1, K),
bn=True,
bias=False,
activation=nn.ELU(inplace=True),
act_before_bn=True
) # B x K*K x P x 1
self.X_transform1 = nn.Sequential(
nn.Conv2d(K, K*K, kernel_size=(1, K), groups=K, bias=False),
nn.ELU(inplace=True),
nn.BatchNorm2d(K*K)
) # B x K*K x P x 1
nn.init.xavier_uniform_(self.X_transform1[0].weight)
self.X_transform2 = nn.Sequential(
nn.Conv2d(K, K*K, kernel_size=(1, K), groups=K, bias=False),
nn.BatchNorm2d(K*K)
) # B x K*K x P x 1
nn.init.xavier_uniform_(self.X_transform2[0].weight)
# depth_multiplier = torch.ceil(float(C_out)/(C_in + C_delta))
self.conv = nn.Sequential(
nn.Conv2d(C_in+C_delta, (C_in+C_delta)*depth_multiplier, kernel_size=(1, K), groups=(C_in+C_delta)),
# nn.ELU(inplace=True),
# nn.BatchNorm2d((C_in+C_delta)*depth_multiplier),
nn.Conv2d((C_in+C_delta)*depth_multiplier, C_out, kernel_size=1, bias=False),
nn.ELU(True),
nn.BatchNorm2d(C_out)
) # equal to tf.layers.seperable_conv2d
nn.init.xavier_uniform_(self.conv[0].weight)
nn.init.xavier_uniform_(self.conv[1].weight)
if self.with_global:
self.conv_global = pt_utils.SharedMLP(
[3, C_out // 4, C_out //4],
bn=True,
activation=nn.ELU(inplace=True),
act_before_bn=True
)
