PVD/model/pvcnn_completion.py

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2021-10-19 20:54:46 +00:00
import functools
import torch.nn as nn
import torch
import numpy as np
from modules import SharedMLP, PVConv, PointNetSAModule, PointNetAModule, PointNetFPModule, Attention, Swish
def _linear_gn_relu(in_channels, out_channels):
return nn.Sequential(nn.Linear(in_channels, out_channels), nn.GroupNorm(8,out_channels), Swish())
def create_mlp_components(in_channels, out_channels, classifier=False, dim=2, width_multiplier=1):
r = width_multiplier
if dim == 1:
block = _linear_gn_relu
else:
block = SharedMLP
if not isinstance(out_channels, (list, tuple)):
out_channels = [out_channels]
if len(out_channels) == 0 or (len(out_channels) == 1 and out_channels[0] is None):
return nn.Sequential(), in_channels, in_channels
layers = []
for oc in out_channels[:-1]:
if oc < 1:
layers.append(nn.Dropout(oc))
else:
oc = int(r * oc)
layers.append(block(in_channels, oc))
in_channels = oc
if dim == 1:
if classifier:
layers.append(nn.Linear(in_channels, out_channels[-1]))
else:
layers.append(_linear_gn_relu(in_channels, int(r * out_channels[-1])))
else:
if classifier:
layers.append(nn.Conv1d(in_channels, out_channels[-1], 1))
else:
layers.append(SharedMLP(in_channels, int(r * out_channels[-1])))
return layers, out_channels[-1] if classifier else int(r * out_channels[-1])
def create_pointnet_components(blocks, in_channels, embed_dim, with_se=False, normalize=True, eps=0,
width_multiplier=1, voxel_resolution_multiplier=1):
r, vr = width_multiplier, voxel_resolution_multiplier
layers, concat_channels = [], 0
c = 0
for k, (out_channels, num_blocks, voxel_resolution) in enumerate(blocks):
out_channels = int(r * out_channels)
for p in range(num_blocks):
attention = k % 2 == 0 and k > 0 and p == 0
if voxel_resolution is None:
block = SharedMLP
else:
block = functools.partial(PVConv, kernel_size=3, resolution=int(vr * voxel_resolution), attention=attention,
with_se=with_se, normalize=normalize, eps=eps)
if c == 0:
layers.append(block(in_channels, out_channels))
else:
layers.append(block(in_channels+embed_dim, out_channels))
in_channels = out_channels
concat_channels += out_channels
c += 1
return layers, in_channels, concat_channels
def create_pointnet2_sa_components(sa_blocks, extra_feature_channels, embed_dim=64, use_att=False,
dropout=0.1, with_se=False, normalize=True, eps=0,
width_multiplier=1, voxel_resolution_multiplier=1):
r, vr = width_multiplier, voxel_resolution_multiplier
in_channels = extra_feature_channels + 3
sa_layers, sa_in_channels = [], []
c = 0
for conv_configs, sa_configs in sa_blocks:
k = 0
sa_in_channels.append(in_channels)
sa_blocks = []
if conv_configs is not None:
out_channels, num_blocks, voxel_resolution = conv_configs
out_channels = int(r * out_channels)
for p in range(num_blocks):
attention = (c+1) % 2 == 0 and c > 0 and use_att and p == 0
if voxel_resolution is None:
block = SharedMLP
else:
block = functools.partial(PVConv, kernel_size=3, resolution=int(vr * voxel_resolution), attention=attention,
dropout=dropout,
with_se=with_se and not attention, with_se_relu=True,
normalize=normalize, eps=eps)
if c == 0:
sa_blocks.append(block(in_channels, out_channels))
elif k ==0:
sa_blocks.append(block(in_channels+embed_dim, out_channels))
in_channels = out_channels
k += 1
extra_feature_channels = in_channels
num_centers, radius, num_neighbors, out_channels = sa_configs
_out_channels = []
for oc in out_channels:
if isinstance(oc, (list, tuple)):
_out_channels.append([int(r * _oc) for _oc in oc])
else:
_out_channels.append(int(r * oc))
out_channels = _out_channels
if num_centers is None:
block = PointNetAModule
else:
block = functools.partial(PointNetSAModule, num_centers=num_centers, radius=radius,
num_neighbors=num_neighbors)
sa_blocks.append(block(in_channels=extra_feature_channels+(embed_dim if k==0 else 0 ), out_channels=out_channels,
include_coordinates=True))
c += 1
in_channels = extra_feature_channels = sa_blocks[-1].out_channels
if len(sa_blocks) == 1:
sa_layers.append(sa_blocks[0])
else:
sa_layers.append(nn.Sequential(*sa_blocks))
return sa_layers, sa_in_channels, in_channels, 1 if num_centers is None else num_centers
def create_pointnet2_fp_modules(fp_blocks, in_channels, sa_in_channels, sv_points, embed_dim=64, use_att=False,
dropout=0.1,
with_se=False, normalize=True, eps=0,
width_multiplier=1, voxel_resolution_multiplier=1):
r, vr = width_multiplier, voxel_resolution_multiplier
fp_layers = []
c = 0
for fp_idx, (fp_configs, conv_configs) in enumerate(fp_blocks):
fp_blocks = []
out_channels = tuple(int(r * oc) for oc in fp_configs)
fp_blocks.append(
PointNetFPModule(in_channels=in_channels + sa_in_channels[-1 - fp_idx] + embed_dim, out_channels=out_channels)
)
in_channels = out_channels[-1]
if conv_configs is not None:
out_channels, num_blocks, voxel_resolution = conv_configs
out_channels = int(r * out_channels)
for p in range(num_blocks):
attention = c % 2 == 0 and c < len(fp_blocks) - 1 and use_att and p == 0
if voxel_resolution is None:
block = SharedMLP
else:
block = functools.partial(PVConv, kernel_size=3, resolution=int(vr * voxel_resolution), attention=attention,
dropout=dropout,
with_se=with_se and not attention,with_se_relu=True, normalize=normalize, eps=eps)
fp_blocks.append(block(in_channels, out_channels))
in_channels = out_channels
if len(fp_blocks) == 1:
fp_layers.append(fp_blocks[0])
else:
fp_layers.append(nn.Sequential(*fp_blocks))
c += 1
return fp_layers, in_channels
class PVCNN2Base(nn.Module):
def __init__(self, num_classes, sv_points, embed_dim, use_att, dropout=0.1,
extra_feature_channels=3, width_multiplier=1, voxel_resolution_multiplier=1):
super().__init__()
assert extra_feature_channels >= 0
self.embed_dim = embed_dim
self.sv_points = sv_points
self.in_channels = extra_feature_channels + 3
sa_layers, sa_in_channels, channels_sa_features, _ = create_pointnet2_sa_components(
sa_blocks=self.sa_blocks, extra_feature_channels=extra_feature_channels, with_se=True, embed_dim=embed_dim,
use_att=use_att, dropout=dropout,
width_multiplier=width_multiplier, voxel_resolution_multiplier=voxel_resolution_multiplier
)
self.sa_layers = nn.ModuleList(sa_layers)
self.global_att = None if not use_att else Attention(channels_sa_features, 8, D=1)
# only use extra features in the last fp module
sa_in_channels[0] = extra_feature_channels
fp_layers, channels_fp_features = create_pointnet2_fp_modules(
fp_blocks=self.fp_blocks, in_channels=channels_sa_features, sa_in_channels=sa_in_channels,sv_points=sv_points,
with_se=True, embed_dim=embed_dim,
use_att=use_att, dropout=dropout,
width_multiplier=width_multiplier, voxel_resolution_multiplier=voxel_resolution_multiplier
)
self.fp_layers = nn.ModuleList(fp_layers)
layers, _ = create_mlp_components(in_channels=channels_fp_features, out_channels=[128, 0.5, num_classes],
classifier=True, dim=2, width_multiplier=width_multiplier)
self.classifier = nn.Sequential(*layers)
self.embedf = nn.Sequential(
nn.Linear(embed_dim, embed_dim),
nn.LeakyReLU(0.1, inplace=True),
nn.Linear(embed_dim, embed_dim),
)
def get_timestep_embedding(self, timesteps, device):
assert len(timesteps.shape) == 1 # and timesteps.dtype == tf.int32
half_dim = self.embed_dim // 2
emb = np.log(10000) / (half_dim - 1)
emb = torch.from_numpy(np.exp(np.arange(0, half_dim) * -emb)).float().to(device)
# emb = tf.range(num_embeddings, dtype=DEFAULT_DTYPE)[:, None] * emb[None, :]
emb = timesteps[:, None] * emb[None, :]
emb = torch.cat([torch.sin(emb), torch.cos(emb)], dim=1)
if self.embed_dim % 2 == 1: # zero pad
# emb = tf.concat([emb, tf.zeros([num_embeddings, 1])], axis=1)
emb = nn.functional.pad(emb, (0, 1), "constant", 0)
assert emb.shape == torch.Size([timesteps.shape[0], self.embed_dim])
return emb
def forward(self, inputs, t):
temb = self.embedf(self.get_timestep_embedding(t, inputs.device))[:,:,None].expand(-1,-1,inputs.shape[-1])
# inputs : [B, in_channels + S, N]
coords, features = inputs[:, :3, :].contiguous(), inputs
coords_list, in_features_list = [], []
for i, sa_blocks in enumerate(self.sa_layers):
in_features_list.append(features)
coords_list.append(coords)
if i == 0:
features, coords, temb = sa_blocks ((features, coords, temb))
else:
features, coords, temb = sa_blocks ((torch.cat([features,temb],dim=1), coords, temb))
in_features_list[0] = inputs[:, 3:, :].contiguous()
if self.global_att is not None:
features = self.global_att(features)
for fp_idx, fp_blocks in enumerate(self.fp_layers):
jump_coords = coords_list[-1 - fp_idx]
fump_feats = in_features_list[-1-fp_idx]
# if fp_idx == len(self.fp_layers) - 1:
# jump_coords = jump_coords[:,:,self.sv_points:]
# fump_feats = fump_feats[:,:,self.sv_points:]
features, coords, temb = fp_blocks((jump_coords, coords, torch.cat([features,temb],dim=1), fump_feats, temb))
return self.classifier(features)