def __init__(self, num_classes, input_channels=0, use_xyz=True):
super().__init__()
self.SA_modules = nn.ModuleList()
channel_in = input_channels
if cfg.RCNN.USE_RPN_FEATURES:
self.rcnn_input_channel = 3 + int(cfg.RCNN.USE_INTENSITY) + int(cfg.RCNN.USE_MASK) + int(cfg.RCNN.USE_DEPTH)
self.xyz_up_layer = pt_utils.SharedMLP([self.rcnn_input_channel] + cfg.RCNN.XYZ_UP_LAYER,
bn=cfg.RCNN.USE_BN)
c_out = cfg.RCNN.XYZ_UP_LAYER[-1]
self.merge_down_layer = pt_utils.SharedMLP([c_out * 2, c_out], bn=cfg.RCNN.USE_BN)
for k in range(cfg.RCNN.SA_CONFIG.NPOINTS.__len__()):
mlps = [channel_in] + cfg.RCNN.SA_CONFIG.MLPS[k]
npoint = cfg.RCNN.SA_CONFIG.NPOINTS[k] if cfg.RCNN.SA_CONFIG.NPOINTS[k] != -1 else None
self.SA_modules.append(
PointnetSAModule(
npoint=npoint,
radius=cfg.RCNN.SA_CONFIG.RADIUS[k],
nsample=cfg.RCNN.SA_CONFIG.NSAMPLE[k],
mlp=mlps,
use_xyz=use_xyz,
bn=cfg.RCNN.USE_BN
)
)
channel_in = mlps[-1]
# classification layer
cls_channel = 1 if num_classes == 2 else num_classes
cls_layers = []
pre_channel = channel_in
for k in range(0, cfg.RCNN.CLS_FC.__len__()):
cls_layers.append(pt_utils.Conv1d(pre_channel, cfg.RCNN.CLS_FC[k], bn=cfg.RCNN.USE_BN))
pre_channel = cfg.RCNN.CLS_FC[k]
cls_layers.append(pt_utils.Conv1d(pre_channel, cls_channel, activation=None))
if cfg.RCNN.DP_RATIO >= 0:
cls_layers.insert(1, nn.Dropout(cfg.RCNN.DP_RATIO))
self.cls_layer = nn.Sequential(*cls_layers)
if cfg.RCNN.LOSS_CLS == 'SigmoidFocalLoss':
self.cls_loss_func = loss_utils.SigmoidFocalClassificationLoss(alpha=cfg.RCNN.FOCAL_ALPHA[0],
gamma=cfg.RCNN.FOCAL_GAMMA)
elif cfg.RCNN.LOSS_CLS == 'BinaryCrossEntropy':
self.cls_loss_func = F.binary_cross_entropy
elif cfg.RCNN.LOSS_CLS == 'CrossEntropy':
cls_weight = torch.from_numpy(cfg.RCNN.CLS_WEIGHT).float()
self.cls_loss_func = nn.CrossEntropyLoss(ignore_index=-1, reduce=False, weight=cls_weight)
else:
raise NotImplementedError
if cfg.USE_IOU_BRANCH:
iou_branch = []
iou_branch.append(pt_utils.Conv1d(channel_in, cfg.RCNN.REG_FC[0], bn=cfg.RCNN.USE_BN))
iou_branch.append(pt_utils.Conv1d(cfg.RCNN.REG_FC[0], cfg.RCNN.REG_FC[1], bn=cfg.RCNN.USE_BN))
iou_branch.append(pt_utils.Conv1d(cfg.RCNN.REG_FC[1], 1, activation=None))
if cfg.RCNN.DP_RATIO >= 0:
iou_branch.insert(1, nn.Dropout(cfg.RCNN.DP_RATIO))
self.iou_branch = nn.Sequential(*iou_branch)
#pass
# regression layer
per_loc_bin_num = int(cfg.RCNN.LOC_SCOPE / cfg.RCNN.LOC_BIN_SIZE) * 2
loc_y_bin_num = int(cfg.RCNN.LOC_Y_SCOPE / cfg.RCNN.LOC_Y_BIN_SIZE) * 2
reg_channel = per_loc_bin_num * 4 + cfg.RCNN.NUM_HEAD_BIN * 2 + 3
reg_channel += (1 if not cfg.RCNN.LOC_Y_BY_BIN else loc_y_bin_num * 2)
reg_layers = []
pre_channel = channel_in
for k in range(0, cfg.RCNN.REG_FC.__len__()):
reg_layers.append(pt_utils.Conv1d(pre_channel, cfg.RCNN.REG_FC[k], bn=cfg.RCNN.USE_BN))
pre_channel = cfg.RCNN.REG_FC[k]
reg_layers.append(pt_utils.Conv1d(pre_channel, reg_channel, activation=None))
if cfg.RCNN.DP_RATIO >= 0:
reg_layers.insert(1, nn.Dropout(cfg.RCNN.DP_RATIO))
self.reg_layer = nn.Sequential(*reg_layers)
self.proposal_target_layer = ProposalTargetLayer()
self.init_weights(weight_init='xavier')
def __init__(self,
num_classes,
num_point=512,
input_channels=0,
use_xyz=True):
super().__init__()
self.SA_modules = nn.ModuleList()
self.ATT_modules = nn.ModuleList()
channel_in = input_channels
self.MEAN_SIZE = torch.from_numpy(cfg.CLS_MEAN_SIZE[0]).cuda()
#todo use statics feature num
#self.rcnn_input_channel = 3 + int(cfg.RCNN.USE_INTENSITY) + int(cfg.RCNN.USE_MASK) + int(cfg.RCNN.USE_DEPTH)
self.rcnn_input_channel = 5
self.input_tansformer = Transformer(num_point, 3)
self.xyz_up_layer = pt_utils.SharedMLP([3] + cfg.RCNN.XYZ_UP_LAYER,
bn=cfg.RCNN.USE_BN)
#self.feature_tansformer = Transformer(num_point, cfg.RCNN.XYZ_UP_LAYER[-1])
self.feature_up_layer = pt_utils.SharedMLP(
[self.rcnn_input_channel - 3] + cfg.RCNN.XYZ_UP_LAYER,
bn=cfg.RCNN.USE_BN)
c_out = cfg.RCNN.XYZ_UP_LAYER[-1]
self.merge_down_layer = pt_utils.SharedMLP([c_out * 2, c_out],
bn=cfg.RCNN.USE_BN)
for k in range(cfg.RCNN.SA_CONFIG.NPOINTS.__len__()):
if cfg.ATTENTION:
self.ATT_modules.append(
pt_utils.SharedMLP([channel_in],
bn=cfg.RCNN.USE_BN,
activation=nn.ReLU(inplace=True)))
mlps = [channel_in] + cfg.RCNN.SA_CONFIG.MLPS[k]
npoint = cfg.RCNN.SA_CONFIG.NPOINTS[
k] if cfg.RCNN.SA_CONFIG.NPOINTS[k] != -1 else None
self.SA_modules.append(
PointnetSAModule(npoint=npoint,
radius=cfg.RCNN.SA_CONFIG.RADIUS[k],
nsample=cfg.RCNN.SA_CONFIG.NSAMPLE[k],
mlp=mlps,
use_xyz=use_xyz,
bn=cfg.RCNN.USE_BN))
channel_in = mlps[-1]
# class SharedMLP(nn.Sequential):
#
# def __init__(
# self,
# args: List[int],
# *,
# bn: bool = False,
# activation=nn.ReLU(inplace=True),
# preact: bool = False,
# first: bool = False,
# name: str = "",
# instance_norm: bool = False,
# ):
# classification layer
cls_channel = 1 if num_classes == 2 else num_classes
cls_layers = []
pre_channel = channel_in
for k in range(0, cfg.RCNN.CLS_FC.__len__()):
cls_layers.append(
pt_utils.Conv1d(pre_channel,
cfg.RCNN.CLS_FC[k],
bn=cfg.RCNN.USE_BN))
pre_channel = cfg.RCNN.CLS_FC[k]
cls_layers.append(
pt_utils.Conv1d(pre_channel, cls_channel, activation=None))
if cfg.RCNN.DP_RATIO >= 0:
cls_layers.insert(1, nn.Dropout(cfg.RCNN.DP_RATIO))
self.cls_layer = nn.Sequential(*cls_layers)
if cfg.RCNN.LOSS_CLS == 'SigmoidFocalLoss':
self.cls_loss_func = loss_utils.SigmoidFocalClassificationLoss(
alpha=cfg.RCNN.FOCAL_ALPHA[0], gamma=cfg.RCNN.FOCAL_GAMMA)
elif cfg.RCNN.LOSS_CLS == 'BinaryCrossEntropy':
self.cls_loss_func = F.binary_cross_entropy
elif cfg.RCNN.LOSS_CLS == 'CrossEntropy':
cls_weight = torch.from_numpy(cfg.RCNN.CLS_WEIGHT).float()
self.cls_loss_func = nn.CrossEntropyLoss(ignore_index=-1,
reduce=False,
weight=cls_weight)
else:
raise NotImplementedError
# regression layer
per_loc_bin_num = int(cfg.RCNN.LOC_SCOPE / cfg.RCNN.LOC_BIN_SIZE) * 2
loc_y_bin_num = int(cfg.RCNN.LOC_Y_SCOPE / cfg.RCNN.LOC_Y_BIN_SIZE) * 2
reg_channel = per_loc_bin_num * 4 + cfg.RCNN.NUM_HEAD_BIN * 2 + 3
reg_channel += (1 if not cfg.RCNN.LOC_Y_BY_BIN else loc_y_bin_num * 2)
reg_layers = []
pre_channel = channel_in
for k in range(0, cfg.RCNN.REG_FC.__len__()):
reg_layers.append(
pt_utils.Conv1d(pre_channel,
cfg.RCNN.REG_FC[k],
bn=cfg.RCNN.USE_BN))
pre_channel = cfg.RCNN.REG_FC[k]
reg_layers.append(
pt_utils.Conv1d(pre_channel, reg_channel, activation=None))
if cfg.RCNN.DP_RATIO >= 0:
reg_layers.insert(1, nn.Dropout(cfg.RCNN.DP_RATIO))
self.reg_layer = nn.Sequential(*reg_layers)
# IOU estimation
# IOU layer
if cfg.IOUN.ENABLED:
self.cascade = cfg.CASCADE
self.can_xyz_up_layer = nn.ModuleList()
self.can_feature_up_layer = nn.ModuleList()
self.can_merge_down_layer = nn.ModuleList()
self.SA_score_modules = nn.ModuleList()
self.ATT_score_modules = nn.ModuleList()
self.IOU_layer = nn.ModuleList()
self.ICL_layer = nn.ModuleList()
self.ref_layer = nn.ModuleList()
for i in range(self.cascade):
for p in self.parameters():
p.requires_grad = False
self.can_xyz_up_layer.append(
pt_utils.SharedMLP([3] + cfg.RCNN.XYZ_UP_LAYER,
bn=cfg.RCNN.USE_BN).cuda())
self.can_feature_up_layer.append(
pt_utils.SharedMLP([2] + cfg.RCNN.XYZ_UP_LAYER,
bn=cfg.RCNN.USE_BN).cuda())
c_out = cfg.RCNN.XYZ_UP_LAYER[-1]
self.can_merge_down_layer.append(
pt_utils.SharedMLP([c_out * 2, c_out], bn=cfg.RCNN.USE_BN))
iou_channel_in = input_channels
for k in range(cfg.IOUN.SA_CONFIG.NPOINTS.__len__()):
mlps = [iou_channel_in] + cfg.IOUN.SA_CONFIG.MLPS[k]
if cfg.ATTENTION:
self.ATT_score_modules.append(
pt_utils.SharedMLP(
[iou_channel_in],
bn=cfg.RCNN.USE_BN,
activation=nn.ELU(inplace=True)))
npoint = cfg.IOUN.SA_CONFIG.NPOINTS[
k] if cfg.IOUN.SA_CONFIG.NPOINTS[k] != -1 else None
self.SA_score_modules.append(
PointnetSAModule(npoint=npoint,
radius=cfg.IOUN.SA_CONFIG.RADIUS[k],
nsample=cfg.IOUN.SA_CONFIG.NSAMPLE[k],
mlp=mlps,
use_xyz=use_xyz,
bn=cfg.IOUN.USE_BN).cuda())
iou_channel_in = mlps[-1]
IOU_channel = 1
IOU_layers = []
pre_channel = iou_channel_in
for k in range(0, cfg.IOUN.CLS_FC.__len__()):
IOU_layers.append(
pt_utils.Conv1d(pre_channel,
cfg.IOUN.CLS_FC[k],
bn=cfg.IOUN.USE_BN))
pre_channel = cfg.IOUN.CLS_FC[k]
IOU_layers.append(
pt_utils.Conv1d(pre_channel, IOU_channel, activation=None))
if cfg.IOUN.DP_RATIO >= 0:
IOU_layers.insert(1, nn.Dropout(cfg.IOUN.DP_RATIO))
self.IOU_layer.append(nn.Sequential(*IOU_layers).cuda())
ICL_channel = 1
ICL_layers = []
pre_channel = iou_channel_in
for k in range(0, cfg.IOUN.CLS_FC.__len__()):
ICL_layers.append(
pt_utils.Conv1d(pre_channel,
cfg.IOUN.CLS_FC[k],
bn=cfg.IOUN.USE_BN))
pre_channel = cfg.IOUN.CLS_FC[k]
ICL_layers.append(
pt_utils.Conv1d(pre_channel, ICL_channel, activation=None))
if cfg.IOUN.DP_RATIO >= 0:
ICL_layers.insert(1, nn.Dropout(cfg.IOUN.DP_RATIO))
self.ICL_layer.append(nn.Sequential(*ICL_layers).cuda())
per_loc_bin_num = int(
cfg.IOUN.LOC_SCOPE / cfg.IOUN.LOC_BIN_SIZE) * 2
loc_y_bin_num = int(
cfg.IOUN.LOC_Y_SCOPE / cfg.IOUN.LOC_Y_BIN_SIZE) * 2
ref_channel = 7
ref_layers = []
pre_channel = iou_channel_in
for k in range(0, cfg.IOUN.REG_FC.__len__()):
ref_layers.append(
pt_utils.Conv1d(pre_channel,
cfg.IOUN.REG_FC[k],
bn=cfg.IOUN.USE_BN))
pre_channel = cfg.IOUN.REG_FC[k]
ref_layers.append(
pt_utils.Conv1d(pre_channel, ref_channel, activation=None))
if cfg.IOUN.DP_RATIO >= 0:
ref_layers.insert(1, nn.Dropout(cfg.IOUN.DP_RATIO))
self.ref_layer.append(nn.Sequential(*ref_layers).cuda())
self.init_weights(weight_init='xavier')