2020-03-31 19:42:35 +00:00
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# 0=================================0
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# | Kernel Point Convolutions |
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# 0=================================0
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#
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# ----------------------------------------------------------------------------------------------------------------------
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#
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# Class handling datasets
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# ----------------------------------------------------------------------------------------------------------------------
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#
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# Hugues THOMAS - 11/06/2018
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# ----------------------------------------------------------------------------------------------------------------------
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#
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# Imports and global variables
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# \**********************************/
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#
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# Common libs
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import time
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import os
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import numpy as np
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import sys
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import torch
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from torch.utils.data import DataLoader, Dataset
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from utils.config import Config
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from utils.mayavi_visu import *
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from kernels.kernel_points import create_3D_rotations
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# Subsampling extension
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import cpp_wrappers.cpp_subsampling.grid_subsampling as cpp_subsampling
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import cpp_wrappers.cpp_neighbors.radius_neighbors as cpp_neighbors
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# ----------------------------------------------------------------------------------------------------------------------
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#
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# Utility functions
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# \***********************/
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#
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def grid_subsampling(points, features=None, labels=None, sampleDl=0.1, verbose=0):
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"""
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CPP wrapper for a grid subsampling (method = barycenter for points and features)
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:param points: (N, 3) matrix of input points
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:param features: optional (N, d) matrix of features (floating number)
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:param labels: optional (N,) matrix of integer labels
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:param sampleDl: parameter defining the size of grid voxels
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:param verbose: 1 to display
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:return: subsampled points, with features and/or labels depending of the input
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"""
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if (features is None) and (labels is None):
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return cpp_subsampling.subsample(points,
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sampleDl=sampleDl,
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verbose=verbose)
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elif (labels is None):
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return cpp_subsampling.subsample(points,
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features=features,
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sampleDl=sampleDl,
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verbose=verbose)
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elif (features is None):
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return cpp_subsampling.subsample(points,
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classes=labels,
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sampleDl=sampleDl,
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verbose=verbose)
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else:
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return cpp_subsampling.subsample(points,
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features=features,
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classes=labels,
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sampleDl=sampleDl,
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verbose=verbose)
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def batch_grid_subsampling(points, batches_len, features=None, labels=None, sampleDl=0.1, max_p=0, verbose=0):
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"""
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CPP wrapper for a grid subsampling (method = barycenter for points and features)
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:param points: (N, 3) matrix of input points
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:param features: optional (N, d) matrix of features (floating number)
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:param labels: optional (N,) matrix of integer labels
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:param sampleDl: parameter defining the size of grid voxels
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:param verbose: 1 to display
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:return: subsampled points, with features and/or labels depending of the input
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"""
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if (features is None) and (labels is None):
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return cpp_subsampling.subsample_batch(points,
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batches_len,
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sampleDl=sampleDl,
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max_p=max_p,
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verbose=verbose)
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elif (labels is None):
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return cpp_subsampling.subsample_batch(points,
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batches_len,
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features=features,
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sampleDl=sampleDl,
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max_p=max_p,
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verbose=verbose)
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elif (features is None):
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return cpp_subsampling.subsample_batch(points,
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batches_len,
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classes=labels,
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sampleDl=sampleDl,
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max_p=max_p,
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verbose=verbose)
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else:
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return cpp_subsampling.subsample_batch(points,
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batches_len,
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features=features,
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classes=labels,
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sampleDl=sampleDl,
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max_p=max_p,
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verbose=verbose)
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def batch_neighbors(queries, supports, q_batches, s_batches, radius):
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"""
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Computes neighbors for a batch of queries and supports
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:param queries: (N1, 3) the query points
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:param supports: (N2, 3) the support points
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:param q_batches: (B) the list of lengths of batch elements in queries
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:param s_batches: (B)the list of lengths of batch elements in supports
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:param radius: float32
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:return: neighbors indices
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"""
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return cpp_neighbors.batch_query(queries, supports, q_batches, s_batches, radius=radius)
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# ----------------------------------------------------------------------------------------------------------------------
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#
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# Class definition
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# \**********************/
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class PointCloudDataset(Dataset):
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"""Parent class for Point Cloud Datasets."""
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def __init__(self, name):
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"""
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Initialize parameters of the dataset here.
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"""
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self.name = name
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self.path = ''
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self.label_to_names = {}
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self.num_classes = 0
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self.label_values = np.zeros((0,), dtype=np.int32)
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self.label_names = []
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self.label_to_idx = {}
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self.name_to_label = {}
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self.config = Config()
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self.neighborhood_limits = []
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return
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def __len__(self):
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"""
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Return the length of data here
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"""
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return 0
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def __getitem__(self, idx):
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"""
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Return the item at the given index
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"""
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return 0
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def init_labels(self):
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# Initialize all label parameters given the label_to_names dict
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self.num_classes = len(self.label_to_names)
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self.label_values = np.sort([k for k, v in self.label_to_names.items()])
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self.label_names = [self.label_to_names[k] for k in self.label_values]
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self.label_to_idx = {l: i for i, l in enumerate(self.label_values)}
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self.name_to_label = {v: k for k, v in self.label_to_names.items()}
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def augmentation_transform(self, points, normals=None, verbose=False):
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"""Implementation of an augmentation transform for point clouds."""
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##########
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# Rotation
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##########
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# Initialize rotation matrix
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R = np.eye(points.shape[1])
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if points.shape[1] == 3:
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if self.config.augment_rotation == 'vertical':
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# Create random rotations
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theta = np.random.rand() * 2 * np.pi
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c, s = np.cos(theta), np.sin(theta)
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R = np.array([[c, -s, 0], [s, c, 0], [0, 0, 1]], dtype=np.float32)
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elif self.config.augment_rotation == 'all':
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# Choose two random angles for the first vector in polar coordinates
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theta = np.random.rand() * 2 * np.pi
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phi = (np.random.rand() - 0.5) * np.pi
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# Create the first vector in carthesian coordinates
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u = np.array([np.cos(theta) * np.cos(phi), np.sin(theta) * np.cos(phi), np.sin(phi)])
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# Choose a random rotation angle
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alpha = np.random.rand() * 2 * np.pi
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# Create the rotation matrix with this vector and angle
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R = create_3D_rotations(np.reshape(u, (1, -1)), np.reshape(alpha, (1, -1)))[0]
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R = R.astype(np.float32)
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#######
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# Scale
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#######
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# Choose random scales for each example
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min_s = self.config.augment_scale_min
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max_s = self.config.augment_scale_max
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if self.config.augment_scale_anisotropic:
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scale = np.random.rand(points.shape[1]) * (max_s - min_s) + min_s
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else:
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scale = np.random.rand() * (max_s - min_s) - min_s
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# Add random symmetries to the scale factor
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symmetries = np.array(self.config.augment_symmetries).astype(np.int32)
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symmetries *= np.random.randint(2, size=points.shape[1])
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scale = (scale * symmetries * 2 - 1).astype(np.float32)
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#######
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# Noise
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#######
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noise = (np.random.randn(points.shape[0], points.shape[1]) * self.config.augment_noise).astype(np.float32)
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##################
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# Apply transforms
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##################
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augmented_points = np.dot(points, R) * scale + noise
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if normals is None:
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return augmented_points, scale, R
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else:
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# Anisotropic scale of the normals thanks to cross product formula
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normal_scale = scale[[1, 2, 0]] * scale[[2, 0, 1]]
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augmented_normals = np.dot(normals, R) * normal_scale
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# Renormalise
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augmented_normals *= 1 / (np.linalg.norm(augmented_normals, axis=1, keepdims=True) + 1e-6)
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if verbose:
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test_p = [np.vstack([points, augmented_points])]
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test_n = [np.vstack([normals, augmented_normals])]
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test_l = [np.hstack([points[:, 2]*0, augmented_points[:, 2]*0+1])]
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show_ModelNet_examples(test_p, test_n, test_l)
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return augmented_points, augmented_normals, scale, R
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def big_neighborhood_filter(self, neighbors, layer):
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"""
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Filter neighborhoods with max number of neighbors. Limit is set to keep XX% of the neighborhoods untouched.
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Limit is computed at initialization
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"""
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# crop neighbors matrix
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if len(self.neighborhood_limits) > 0:
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return neighbors[:, :self.neighborhood_limits[layer]]
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else:
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return neighbors
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def classification_inputs(self,
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stacked_points,
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stacked_features,
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labels,
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stack_lengths):
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# Starting radius of convolutions
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r_normal = self.config.first_subsampling_dl * self.config.conv_radius
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# Starting layer
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layer_blocks = []
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# Lists of inputs
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input_points = []
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input_neighbors = []
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input_pools = []
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input_stack_lengths = []
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deform_layers = []
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######################
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# Loop over the blocks
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######################
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arch = self.config.architecture
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for block_i, block in enumerate(arch):
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# Get all blocks of the layer
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if not ('pool' in block or 'strided' in block or 'global' in block or 'upsample' in block):
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layer_blocks += [block]
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continue
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# Convolution neighbors indices
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# *****************************
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deform_layer = False
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if layer_blocks:
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# Convolutions are done in this layer, compute the neighbors with the good radius
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if np.any(['deformable' in blck for blck in layer_blocks]):
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r = r_normal * self.config.deform_radius / self.config.conv_radius
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deform_layer = True
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else:
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r = r_normal
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conv_i = batch_neighbors(stacked_points, stacked_points, stack_lengths, stack_lengths, r)
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else:
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# This layer only perform pooling, no neighbors required
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conv_i = np.zeros((0, 1), dtype=np.int32)
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# Pooling neighbors indices
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# *************************
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# If end of layer is a pooling operation
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if 'pool' in block or 'strided' in block:
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# New subsampling length
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dl = 2 * r_normal / self.config.conv_radius
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# Subsampled points
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pool_p, pool_b = batch_grid_subsampling(stacked_points, stack_lengths, sampleDl=dl)
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# Radius of pooled neighbors
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if 'deformable' in block:
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r = r_normal * self.config.deform_radius / self.config.conv_radius
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deform_layer = True
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else:
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r = r_normal
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# Subsample indices
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pool_i = batch_neighbors(pool_p, stacked_points, pool_b, stack_lengths, r)
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else:
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# No pooling in the end of this layer, no pooling indices required
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pool_i = np.zeros((0, 1), dtype=np.int32)
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pool_p = np.zeros((0, 3), dtype=np.float32)
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pool_b = np.zeros((0,), dtype=np.int32)
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# Reduce size of neighbors matrices by eliminating furthest point
|
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conv_i = self.big_neighborhood_filter(conv_i, len(input_points))
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pool_i = self.big_neighborhood_filter(pool_i, len(input_points))
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# Updating input lists
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input_points += [stacked_points]
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input_neighbors += [conv_i.astype(np.int64)]
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input_pools += [pool_i.astype(np.int64)]
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input_stack_lengths += [stack_lengths]
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deform_layers += [deform_layer]
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# New points for next layer
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stacked_points = pool_p
|
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stack_lengths = pool_b
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# Update radius and reset blocks
|
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r_normal *= 2
|
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layer_blocks = []
|
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# Stop when meeting a global pooling or upsampling
|
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if 'global' in block or 'upsample' in block:
|
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break
|
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|
###############
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# Return inputs
|
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|
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|
###############
|
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|
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|
# Save deform layers
|
|
|
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|
# list of network inputs
|
|
|
|
|
li = input_points + input_neighbors + input_pools + input_stack_lengths
|
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|
li += [stacked_features, labels]
|
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return li
|
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|
def segmentation_inputs(self,
|
|
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|
|
stacked_points,
|
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|
stacked_features,
|
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|
labels,
|
|
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|
stack_lengths):
|
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|
|
|
|
|
# Starting radius of convolutions
|
|
|
|
|
r_normal = self.config.first_subsampling_dl * self.config.conv_radius
|
|
|
|
|
|
|
|
|
|
# Starting layer
|
|
|
|
|
layer_blocks = []
|
|
|
|
|
|
|
|
|
|
# Lists of inputs
|
|
|
|
|
input_points = []
|
|
|
|
|
input_neighbors = []
|
|
|
|
|
input_pools = []
|
|
|
|
|
input_upsamples = []
|
|
|
|
|
input_stack_lengths = []
|
|
|
|
|
deform_layers = []
|
|
|
|
|
|
|
|
|
|
######################
|
|
|
|
|
# Loop over the blocks
|
|
|
|
|
######################
|
|
|
|
|
|
|
|
|
|
arch = self.config.architecture
|
|
|
|
|
|
|
|
|
|
for block_i, block in enumerate(arch):
|
|
|
|
|
|
|
|
|
|
# Get all blocks of the layer
|
|
|
|
|
if not ('pool' in block or 'strided' in block or 'global' in block or 'upsample' in block):
|
|
|
|
|
layer_blocks += [block]
|
|
|
|
|
continue
|
|
|
|
|
|
|
|
|
|
# Convolution neighbors indices
|
|
|
|
|
# *****************************
|
|
|
|
|
|
|
|
|
|
deform_layer = False
|
|
|
|
|
if layer_blocks:
|
|
|
|
|
# Convolutions are done in this layer, compute the neighbors with the good radius
|
|
|
|
|
if np.any(['deformable' in blck for blck in layer_blocks]):
|
|
|
|
|
r = r_normal * self.config.deform_radius / self.config.conv_radius
|
|
|
|
|
deform_layer = True
|
|
|
|
|
else:
|
|
|
|
|
r = r_normal
|
|
|
|
|
conv_i = batch_neighbors(stacked_points, stacked_points, stack_lengths, stack_lengths, r)
|
|
|
|
|
|
|
|
|
|
else:
|
|
|
|
|
# This layer only perform pooling, no neighbors required
|
|
|
|
|
conv_i = np.zeros((0, 1), dtype=np.int32)
|
|
|
|
|
|
|
|
|
|
# Pooling neighbors indices
|
|
|
|
|
# *************************
|
|
|
|
|
|
|
|
|
|
# If end of layer is a pooling operation
|
|
|
|
|
if 'pool' in block or 'strided' in block:
|
|
|
|
|
|
|
|
|
|
# New subsampling length
|
|
|
|
|
dl = 2 * r_normal / self.config.conv_radius
|
|
|
|
|
|
|
|
|
|
# Subsampled points
|
|
|
|
|
pool_p, pool_b = batch_grid_subsampling(stacked_points, stack_lengths, sampleDl=dl)
|
|
|
|
|
|
|
|
|
|
# Radius of pooled neighbors
|
|
|
|
|
if 'deformable' in block:
|
|
|
|
|
r = r_normal * self.config.deform_radius / self.config.conv_radius
|
|
|
|
|
deform_layer = True
|
|
|
|
|
else:
|
|
|
|
|
r = r_normal
|
|
|
|
|
|
|
|
|
|
# Subsample indices
|
|
|
|
|
pool_i = batch_neighbors(pool_p, stacked_points, pool_b, stack_lengths, r)
|
|
|
|
|
|
|
|
|
|
# Upsample indices (with the radius of the next layer to keep wanted density)
|
|
|
|
|
up_i = batch_neighbors(stacked_points, pool_p, stack_lengths, pool_b, 2 * r)
|
|
|
|
|
|
|
|
|
|
else:
|
|
|
|
|
# No pooling in the end of this layer, no pooling indices required
|
|
|
|
|
pool_i = np.zeros((0, 1), dtype=np.int32)
|
|
|
|
|
pool_p = np.zeros((0, 3), dtype=np.float32)
|
|
|
|
|
pool_b = np.zeros((0,), dtype=np.int32)
|
|
|
|
|
up_i = np.zeros((0, 1), dtype=np.int32)
|
|
|
|
|
|
|
|
|
|
# Reduce size of neighbors matrices by eliminating furthest point
|
|
|
|
|
conv_i = self.big_neighborhood_filter(conv_i, len(input_points))
|
|
|
|
|
pool_i = self.big_neighborhood_filter(pool_i, len(input_points))
|
2020-04-02 21:31:35 +00:00
|
|
|
if up_i.shape[0] > 0:
|
|
|
|
|
up_i = self.big_neighborhood_filter(up_i, len(input_points)+1)
|
2020-03-31 19:42:35 +00:00
|
|
|
|
|
|
|
|
# Updating input lists
|
|
|
|
|
input_points += [stacked_points]
|
|
|
|
|
input_neighbors += [conv_i.astype(np.int64)]
|
|
|
|
|
input_pools += [pool_i.astype(np.int64)]
|
|
|
|
|
input_upsamples += [up_i.astype(np.int64)]
|
|
|
|
|
input_stack_lengths += [stack_lengths]
|
|
|
|
|
deform_layers += [deform_layer]
|
|
|
|
|
|
|
|
|
|
# New points for next layer
|
|
|
|
|
stacked_points = pool_p
|
|
|
|
|
stack_lengths = pool_b
|
|
|
|
|
|
|
|
|
|
# Update radius and reset blocks
|
|
|
|
|
r_normal *= 2
|
|
|
|
|
layer_blocks = []
|
|
|
|
|
|
|
|
|
|
# Stop when meeting a global pooling or upsampling
|
|
|
|
|
if 'global' in block or 'upsample' in block:
|
|
|
|
|
break
|
|
|
|
|
|
|
|
|
|
###############
|
|
|
|
|
# Return inputs
|
|
|
|
|
###############
|
|
|
|
|
|
|
|
|
|
# Save deform layers
|
|
|
|
|
|
|
|
|
|
# list of network inputs
|
|
|
|
|
li = input_points + input_neighbors + input_pools + input_upsamples + input_stack_lengths
|
|
|
|
|
li += [stacked_features, labels]
|
|
|
|
|
|
|
|
|
|
return li
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
