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erikwijmans
2018-01-06 12:13:52 -05:00
parent 7e746ba72a
commit 5a5adc2b77
20 changed files with 650 additions and 494 deletions
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models/Pointnet2Cls.py
+21 -8
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@@ -39,6 +39,7 @@ def model_fn_decorator(criterion):
class Pointnet2SSG(nn.Module):
def __init__(self, num_classes, input_channels=9):
super().__init__()
@@ -48,13 +49,17 @@ class Pointnet2SSG(nn.Module):
npoint=512,
radius=0.2,
nsample=64,
mlp=[input_channels, 64, 64, 128]))
mlp=[input_channels, 64, 64, 128]
)
)
self.SA_modules.append(
PointnetSAModule(
npoint=128,
radius=0.4,
nsample=64,
mlp=[128 + 3, 128, 128, 256]))
mlp=[128 + 3, 128, 128, 256]
)
)
self.SA_modules.append(PointnetSAModule(mlp=[256 + 3, 256, 512, 1024]))
self.FC_layer = nn.Sequential(
@@ -62,7 +67,8 @@ class Pointnet2SSG(nn.Module):
nn.Dropout(p=0.5),
pt_utils.FC(512, 256, bn=True),
nn.Dropout(p=0.5),
pt_utils.FC(256, num_classes, activation=None))
pt_utils.FC(256, num_classes, activation=None)
)
def forward(self, xyz, points=None):
for module in self.SA_modules:
@@ -72,6 +78,7 @@ class Pointnet2SSG(nn.Module):
class Pointnet2MSG(nn.Module):
def __init__(self, num_classes, input_channels=9):
super().__init__()
@@ -83,7 +90,9 @@ class Pointnet2MSG(nn.Module):
nsamples=[32, 64, 128],
mlps=[[input_channels, 32, 32,
64], [input_channels, 64, 64, 128],
[input_channels, 64, 96, 128]]))
[input_channels, 64, 96, 128]]
)
)
input_channels = 64 + 128 + 128 + 3
self.SA_modules.append(
@@ -92,17 +101,21 @@ class Pointnet2MSG(nn.Module):
radii=[0.2, 0.4, 0.8],
nsamples=[16, 32, 64],
mlps=[[input_channels, 64, 64,
128], [input_channels, 128, 128, 256],
[input_channels, 128, 128, 256]]))
128], [input_channels, 128, 128, 256],
[input_channels, 128, 128, 256]]
)
)
self.SA_modules.append(
PointnetSAModule(mlp=[128 + 256 + 256 + 3, 256, 512, 1024]))
PointnetSAModule(mlp=[128 + 256 + 256 + 3, 256, 512, 1024])
)
self.FC_layer = nn.Sequential(
pt_utils.FC(1024, 512, bn=True),
nn.Dropout(p=0.5),
pt_utils.FC(512, 256, bn=True),
nn.Dropout(p=0.5),
pt_utils.FC(256, num_classes, activation=None))
pt_utils.FC(256, num_classes, activation=None)
)
def forward(self, xyz, points=None):
for module in self.SA_modules: