mirror of
https://github.com/wassname/Pointnet2_PyTorch.git
synced 2026-06-27 16:00:07 +08:00
erikwijmans
449 lines
12 KiB
Python
449 lines
12 KiB
Python
import torch
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from torch.autograd import Variable
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from torch.autograd import Function
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import torch.nn.functional as F
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import torch.nn as nn
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from linalg_utils import pdist2, PDist2Order
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from collections import namedtuple
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import pytorch_utils as pt_utils
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from typing import List, Tuple
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from _ext import pointnet2
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class RandomDropout(nn.Module):
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def __init__(self, p=0.5, inplace=False):
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super().__init__()
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self.p = p
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self.inplace = inplace
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def forward(self, X):
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theta = torch.Tensor(1).uniform_(0, self.p)[0]
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return pt_utils.feature_dropout_no_scaling(
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X, theta, self.train, self.inplace
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)
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class FurthestPointSampling(Function):
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@staticmethod
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def forward(ctx, xyz: torch.Tensor, npoint: int) -> torch.Tensor:
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r"""
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Uses iterative furthest point sampling to select a set of npoint points that have the largest
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minimum distance
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Parameters
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----------
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xyz : torch.Tensor
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(B, N, 3) tensor where N > npoint
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npoint : int32
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number of points in the sampled set
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Returns
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-------
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torch.Tensor
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(B, npoint) tensor containing the set
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"""
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B, N, _ = xyz.size()
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output = torch.cuda.IntTensor(B, npoint)
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temp = torch.cuda.FloatTensor(B, N).fill_(1e10)
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xyz = xyz.contiguous()
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temp = temp.contiguous()
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output = output.contiguous()
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pointnet2.furthest_point_sampling_wrapper(
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B, N, npoint, xyz, temp, output
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)
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return output
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@staticmethod
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def backward(xyz, a=None):
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return None, None
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furthest_point_sample = FurthestPointSampling.apply
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class GatherPoints(Function):
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@staticmethod
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def forward(ctx, points: torch.Tensor, idx: torch.Tensor) -> torch.Tensor:
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r"""
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Uses iterative furthest point sampling to select a set of npoint points that have the largest
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minimum distance
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Parameters
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----------
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points : torch.Tensor
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(B, N, 3) tensor
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idx : torch.Tensor
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(B, npoint) tensor of the points to gather
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Returns
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-------
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torch.Tensor
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(B, npoint, 3) tensor
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"""
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B, N, C = points.size()
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npoint = idx.size(1)
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output = torch.cuda.FloatTensor(B, npoint, C)
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points = points.contiguous()
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idx = idx.contiguous()
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output = output.contiguous()
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pointnet2.gather_points_wrapper(B, N, C, npoint, points, idx, output)
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return output
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@staticmethod
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def backward(ctx, a=None):
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return None, None
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gather_points = GatherPoints.apply
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class ThreeNN(Function):
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@staticmethod
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def forward(ctx, unknown: torch.Tensor,
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known: torch.Tensor) -> Tuple[torch.Tensor, torch.Tensor]:
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r"""
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Find the three nearest neighbors of unknown in known
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Parameters
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----------
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unknown : torch.Tensor
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(B, n, 3) tensor of known points
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known : torch.Tensor
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(B, m, 3) tensor of unknown points
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Returns
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-------
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dist : torch.Tensor
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(B, n, 3) l2 distance to the three nearest neighbors
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idx : torch.Tensor
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(B, n, 3) index of 3 nearest neighbors
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"""
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B, N, _ = unknown.size()
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m = known.size(1)
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dist2 = torch.cuda.FloatTensor(B, N, 3)
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idx = torch.cuda.IntTensor(B, N, 3)
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unknown = unknown.contiguous()
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known = known.contiguous()
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dist2 = dist2.contiguous()
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idx = idx.contiguous()
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pointnet2.three_nn_wrapper(B, N, m, unknown, known, dist2, idx)
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return torch.sqrt(dist2), idx
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@staticmethod
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def backward(ctx, a=None, b=None):
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return None, None
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three_nn = ThreeNN.apply
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class ThreeInterpolate(Function):
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@staticmethod
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def forward(
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ctx, points: torch.Tensor, idx: torch.Tensor, weight: torch.Tensor
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) -> torch.Tensor:
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r"""
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Performs weight linear interpolation on 3 points
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Parameters
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----------
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points : torch.Tensor
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(B, m, c) Points to be interpolated from
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idx : torch.Tensor
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(B, n, 3) three nearest neighbors of the target points in points
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weight : torch.Tensor
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(B, n, 3) weights
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Returns
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-------
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torch.Tensor
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(B, n, c) tensor of the interpolated points
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"""
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B, m, c = points.size()
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n = idx.size(1)
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ctx.three_interpolate_for_backward = (idx, weight, m)
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output = torch.cuda.FloatTensor(B, n, c)
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points = points.contiguous()
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idx = idx.contiguous()
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weight = weight.contiguous()
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output = output.contiguous()
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pointnet2.three_interpolate_wrapper(
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B, m, c, n, points, idx, weight, output
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)
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return output
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@staticmethod
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def backward(ctx, grad_out: torch.Tensor
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) -> Tuple[torch.Tensor, torch.Tensor, torch.Tensor]:
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r"""
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Parameters
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----------
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grad_out : torch.Tensor
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(B, n, c) tensor with gradients of ouputs
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Returns
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-------
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grad_points : torch.Tensor
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(B, m, c) tensor with gradients of points
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None
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None
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"""
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idx, weight, m = ctx.three_interpolate_for_backward
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B, n, c = grad_out.size()
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grad_points = Variable(torch.cuda.FloatTensor(B, m, c).zero_())
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grad_out = grad_out.contiguous()
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idx = idx.contiguous()
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weight = weight.contiguous()
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grad_points = grad_points.contiguous()
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pointnet2.three_interpolate_grad_wrapper(
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B, n, c, m, grad_out.data, idx, weight, grad_points.data
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)
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return grad_points, None, None
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three_interpolate = ThreeInterpolate.apply
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class GroupPoints(Function):
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@staticmethod
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def forward(ctx, points: torch.Tensor, idx: torch.Tensor) -> torch.Tensor:
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r"""
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Parameters
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----------
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points : torch.Tensor
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(B, N, C) tensor of points to group
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idx : torch.Tensor
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(B, npoint, nsample) tensor containing the indicies of points to group with
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Returns
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-------
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torch.Tensor
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(B, npoint, nsample, C) tensor
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"""
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B, npoints, nsample = idx.size()
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_, N, C = points.size()
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output = torch.cuda.FloatTensor(B, npoints, nsample, C)
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points = points.contiguous()
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idx = idx.contiguous()
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output = output.contiguous()
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pointnet2.group_points_wrapper(
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B, N, C, npoints, nsample, points, idx, output
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)
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ctx.idx_N_C_for_backward = (idx, N, C)
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return output
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@staticmethod
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def backward(ctx,
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grad_out: torch.Tensor) -> Tuple[torch.Tensor, torch.Tensor]:
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r"""
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Parameters
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----------
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grad_out : torch.Tensor
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(B, npoint, nsample, C) tensor of the gradients of the output from forward
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Returns
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-------
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torch.Tensor
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(B, N, C) gradient of the points
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None
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"""
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idx, N, C = ctx.idx_N_C_for_backward
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B, npoint, nsample, _ = grad_out.size()
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grad_points = Variable(torch.cuda.FloatTensor(B, N, C).zero_())
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grad_out = grad_out.contiguous()
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grad_points = grad_points.contiguous()
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pointnet2.group_points_grad_wrapper(
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B, N, C, npoint, nsample, grad_out.data, idx, grad_points.data
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)
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return grad_points, None
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group_points = GroupPoints.apply
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class BallQuery(Function):
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@staticmethod
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def forward(
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ctx, radius: float, nsample: int, xyz: torch.Tensor,
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new_xyz: torch.Tensor
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) -> torch.Tensor:
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r"""
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Parameters
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----------
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radius : float
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radius of the balls
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nsample : int
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maximum number of points in the balls
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xyz : torch.Tensor
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(B, N, 3) xyz coordinates of the points
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new_xyz : torch.Tensor
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(B, npoint, 3) centers of the ball query
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Returns
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-------
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torch.Tensor
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(B, npoint, nsample) tensor with the indicies of the points that form the query balls
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"""
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B, N, _ = xyz.size()
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npoint = new_xyz.size(1)
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idx = torch.cuda.IntTensor(B, npoint, nsample).zero_()
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new_xyz = new_xyz.contiguous()
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xyz = xyz.contiguous()
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idx = idx.contiguous()
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pointnet2.ball_query_wrapper(
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B, N, npoint, radius, nsample, new_xyz, xyz, idx
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)
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return idx
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@staticmethod
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def backward(ctx, a=None):
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return None, None, None, None
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ball_query = BallQuery.apply
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class QueryAndGroup(nn.Module):
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r"""
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Groups with a ball query of radius
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Parameters
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---------
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radius : float32
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Radius of ball
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nsample : int32
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Maximum number of points to gather in the ball
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"""
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def __init__(self, radius: float, nsample: int, use_xyz: bool = True):
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super().__init__()
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self.radius, self.nsample, self.use_xyz = radius, nsample, use_xyz
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def forward(
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self,
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xyz: torch.Tensor,
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new_xyz: torch.Tensor,
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points: torch.Tensor = None
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) -> Tuple[torch.Tensor]:
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r"""
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Parameters
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----------
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xyz : torch.Tensor
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xyz coordinates of the points (B, N, 3)
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new_xyz : torch.Tensor
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centriods (B, npoint, 3)
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points : torch.Tensor
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Descriptors of the points (B, N, C)
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Returns
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-------
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new_points : torch.Tensor
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(B, npoint, nsample, 3 + C) tensor
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"""
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idx = ball_query(self.radius, self.nsample, xyz, new_xyz)
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grouped_xyz = group_points(xyz, idx) # (B, npoint, nsample, 3)
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grouped_xyz -= new_xyz.unsqueeze(2)
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if points is not None:
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grouped_points = group_points(points, idx)
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if self.use_xyz:
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new_points = torch.cat([grouped_xyz, grouped_points],
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dim=-1) # (B, npoint, nsample, 3 + C)
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else:
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new_points = group_points
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else:
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new_points = grouped_xyz
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return new_points
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class GroupAll(nn.Module):
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r"""
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Groups all points
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Parameters
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---------
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"""
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def __init__(self, use_xyz: bool = True):
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super().__init__()
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self.use_xyz = use_xyz
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def forward(
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self,
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xyz: torch.Tensor,
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new_xyz: torch.Tensor,
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points: torch.Tensor = None
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) -> Tuple[torch.Tensor]:
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r"""
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Parameters
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----------
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xyz : torch.Tensor
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xyz coordinates of the points (B, N, 3)
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new_xyz : torch.Tensor
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centriods (B, npoint, 3)
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points : torch.Tensor
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Descriptors of the points (B, N, C)
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Returns
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-------
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new_points : torch.Tensor
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(B, npoint, nsample, 3 + C) tensor
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"""
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grouped_xyz = xyz.view(xyz.size(0), 1, xyz.size(1), xyz.size(2))
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if points is not None:
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grouped_points = points.view(
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points.size(0), 1, points.size(1), points.size(2)
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)
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if self.use_xyz:
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new_points = torch.cat([grouped_xyz, grouped_points],
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dim=-1) # (B, npoint, nsample, 3 + C)
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else:
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new_points = group_points
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else:
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new_points = grouped_xyz
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return new_points
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