networks - add pointnet segmentation

valeoai · Dec 9, 2020 · 8935496 · 8935496
1 parent ef3c512
commit 8935496
Showing 1 changed file with 26 additions and 7 deletions.
diff --git a/lightconvpoint/networks/pointnet.py b/lightconvpoint/networks/pointnet.py
@@ -6,15 +6,21 @@ class Pointnet(nn.Module):
 
     def __init__(self, in_channels,
             out_channels,
-            hidden_dim):
+            hidden_dim, segmentation=False):
         super().__init__()
 
         self.fc_in = nn.Conv1d(in_channels, 2*hidden_dim, 1)
         self.fc_0 = nn.Conv1d(2*hidden_dim, hidden_dim, 1)
         self.fc_1 = nn.Conv1d(2*hidden_dim, hidden_dim, 1)
         self.fc_2 = nn.Conv1d(2*hidden_dim, hidden_dim, 1)
         self.fc_3 = nn.Conv1d(2*hidden_dim, hidden_dim, 1)
-        self.fc_out = nn.Linear(hidden_dim, out_channels, 1)
+
+        self.segmentation=segmentation
+
+        if segmentation:
+            self.fc_out = nn.Conv1d(2*hidden_dim, out_channels, 1)
+        else:
+            self.fc_out = nn.Linear(hidden_dim, out_channels)
 
         self.activation = nn.ReLU()
 
@@ -36,8 +42,12 @@ def forward(self, x):
 
         x = self.fc_3(self.activation(x))
 
-        x = torch.max(x, dim=2)[0]
-
+        if self.segmentation:
+            x_pool = torch.max(x, dim=2, keepdim=True)[0].expand_as(x)
+            x = torch.cat([x, x_pool], dim=1)
+        else:
+            x = torch.max(x, dim=2)[0]
+
         x = self.fc_out(x)
 
         return x
@@ -77,7 +87,7 @@ class ResidualPointnet(nn.Module):
         hidden_dim (int): hidden dimension of the network
     '''
 
-    def __init__(self, in_channels, out_channels, hidden_dim):
+    def __init__(self, in_channels, out_channels, hidden_dim, segmentation=False):
         super().__init__()
 
         self.fc_in = nn.Conv1d(in_channels, 2*hidden_dim, 1)
@@ -86,7 +96,12 @@ def __init__(self, in_channels, out_channels, hidden_dim):
         self.block_2 = ResidualBlock(2*hidden_dim, hidden_dim, hidden_dim)
         self.block_3 = ResidualBlock(2*hidden_dim, hidden_dim, hidden_dim)
         self.block_4 = ResidualBlock(2*hidden_dim, hidden_dim, hidden_dim)
-        self.fc_out = nn.Linear(hidden_dim, out_channels)
+
+        self.segmentation = segmentation
+        if self.segmentation:
+            self.fc_out = nn.Conv1d(2*hidden_dim, out_channels, 1)
+        else:
+            self.fc_out = nn.Linear(hidden_dim, out_channels)
 
 
     def forward(self, x):
@@ -111,7 +126,11 @@ def forward(self, x):
 
         x = self.block_4(x)
 
-        x = torch.max(x, dim=2)[0]
+        if self.segmentation:
+            x_pool = torch.max(x, dim=2, keepdim=True)[0].expand_as(x)
+            x = torch.cat([x, x_pool], dim=1)
+        else:
+            x = torch.max(x, dim=2)[0]
 
         x = self.fc_out(x)