36 lines
1.4 KiB
Python
36 lines
1.4 KiB
Python
import torch
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import torch.nn as nn
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import modules.functional as F
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__all__ = ["BallQuery"]
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class BallQuery(nn.Module):
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def __init__(self, radius, num_neighbors, include_coordinates=True):
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super().__init__()
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self.radius = radius
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self.num_neighbors = num_neighbors
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self.include_coordinates = include_coordinates
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def forward(self, points_coords, centers_coords, temb, points_features=None):
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points_coords = points_coords.contiguous()
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centers_coords = centers_coords.contiguous()
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neighbor_indices = F.ball_query(centers_coords, points_coords, self.radius, self.num_neighbors)
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neighbor_coordinates = F.grouping(points_coords, neighbor_indices)
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neighbor_coordinates = neighbor_coordinates - centers_coords.unsqueeze(-1)
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if points_features is None:
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assert self.include_coordinates, "No Features For Grouping"
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neighbor_features = neighbor_coordinates
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else:
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neighbor_features = F.grouping(points_features, neighbor_indices)
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if self.include_coordinates:
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neighbor_features = torch.cat([neighbor_coordinates, neighbor_features], dim=1)
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return neighbor_features, F.grouping(temb, neighbor_indices)
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def extra_repr(self):
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return "radius={}, num_neighbors={}{}".format(
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self.radius, self.num_neighbors, ", include coordinates" if self.include_coordinates else ""
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)
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