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| from pickle import TRUE | |
| import torch | |
| import torch.nn as nn | |
| import torch.nn.functional as F | |
| from lib.net.geometry import orthogonal | |
| class SelfAttention(torch.nn.Module): | |
| def __init__(self, in_channels, out_channels): | |
| super().__init__() | |
| self.conv = nn.Conv3d(in_channels, out_channels, 3, padding=1, padding_mode='replicate') | |
| self.attention = nn.Conv3d( | |
| in_channels, | |
| out_channels, | |
| kernel_size=3, | |
| padding=1, | |
| padding_mode='replicate', | |
| bias=False | |
| ) | |
| with torch.no_grad(): | |
| self.attention.weight.copy_(torch.zeros_like(self.attention.weight)) | |
| def forward(self, x): | |
| features = self.conv(x) | |
| attention_mask = torch.sigmoid(self.attention(x)) | |
| return features * attention_mask | |
| class IFGeoNet(nn.Module): | |
| def __init__(self, cfg, hidden_dim=256): | |
| super(IFGeoNet, self).__init__() | |
| self.conv_in_partial = nn.Conv3d( | |
| 1, 16, 3, padding=1, padding_mode='replicate' | |
| ) # out: 256 ->m.p. 128 | |
| self.SA = SelfAttention(4, 4) | |
| self.conv_0_fusion = nn.Conv3d(16, 32, 3, padding=1, padding_mode='replicate') # out: 128 | |
| self.conv_0_1_fusion = nn.Conv3d( | |
| 32, 32, 3, padding=1, padding_mode='replicate' | |
| ) # out: 128 ->m.p. 64 | |
| self.conv_0 = nn.Conv3d(32, 32, 3, padding=1, padding_mode='replicate') # out: 128 | |
| self.conv_0_1 = nn.Conv3d( | |
| 32, 32, 3, padding=1, padding_mode='replicate' | |
| ) # out: 128 ->m.p. 64 | |
| self.conv_1 = nn.Conv3d(32, 64, 3, padding=1, padding_mode='replicate') # out: 64 | |
| self.conv_1_1 = nn.Conv3d( | |
| 64, 64, 3, padding=1, padding_mode='replicate' | |
| ) # out: 64 -> mp 32 | |
| self.conv_2 = nn.Conv3d(64, 128, 3, padding=1, padding_mode='replicate') # out: 32 | |
| self.conv_2_1 = nn.Conv3d( | |
| 128, 128, 3, padding=1, padding_mode='replicate' | |
| ) # out: 32 -> mp 16 | |
| self.conv_3 = nn.Conv3d(128, 128, 3, padding=1, padding_mode='replicate') # out: 16 | |
| self.conv_3_1 = nn.Conv3d( | |
| 128, 128, 3, padding=1, padding_mode='replicate' | |
| ) # out: 16 -> mp 8 | |
| self.conv_4 = nn.Conv3d(128, 128, 3, padding=1, padding_mode='replicate') # out: 8 | |
| self.conv_4_1 = nn.Conv3d(128, 128, 3, padding=1, padding_mode='replicate') # out: 8 | |
| feature_size = (1 + 32 + 32 + 64 + 128 + 128 + 128) + 3 | |
| self.fc_0 = nn.Conv1d(feature_size, hidden_dim * 2, 1) | |
| self.fc_1 = nn.Conv1d(hidden_dim * 2, hidden_dim, 1) | |
| self.fc_2 = nn.Conv1d(hidden_dim, hidden_dim, 1) | |
| self.fc_out = nn.Conv1d(hidden_dim, 1, 1) | |
| self.actvn = nn.ReLU(True) | |
| self.maxpool = nn.MaxPool3d(2) | |
| self.partial_conv_in_bn = nn.InstanceNorm3d(16) | |
| self.smpl_conv_in_bn = nn.InstanceNorm3d(4) | |
| self.conv0_1_bn_fusion = nn.InstanceNorm3d(32) | |
| self.conv0_1_bn = nn.InstanceNorm3d(32) | |
| self.conv1_1_bn = nn.InstanceNorm3d(64) | |
| self.conv2_1_bn = nn.InstanceNorm3d(128) | |
| self.conv3_1_bn = nn.InstanceNorm3d(128) | |
| self.conv4_1_bn = nn.InstanceNorm3d(128) | |
| self.l1_loss = nn.SmoothL1Loss() | |
| def forward(self, batch): | |
| p = orthogonal(batch["samples_geo"].permute(0, 2, 1), | |
| batch["calib"]).permute(0, 2, 1) #[2, 60000, 3] | |
| x = batch["depth_voxels"] #[B, 128, 128, 128] | |
| x = x.unsqueeze(1) | |
| p_features = p.transpose(1, -1) | |
| p = p.unsqueeze(1).unsqueeze(1) | |
| # partial inputs feature extraction | |
| feature_0_partial = F.grid_sample(x, p, padding_mode='border', align_corners=True) | |
| net_partial = self.actvn(self.conv_in_partial(x)) | |
| net_partial = self.partial_conv_in_bn(net_partial) | |
| net_partial = self.maxpool(net_partial) # out 64 | |
| # Feature fusion | |
| net = self.actvn(self.conv_0_fusion(net_partial)) | |
| net = self.actvn(self.conv_0_1_fusion(net)) | |
| net = self.conv0_1_bn_fusion(net) | |
| feature_1_fused = F.grid_sample(net, p, padding_mode='border', align_corners=True) | |
| # net = self.maxpool(net) # out 64 | |
| net = self.actvn(self.conv_0(net)) | |
| net = self.actvn(self.conv_0_1(net)) | |
| net = self.conv0_1_bn(net) | |
| feature_2 = F.grid_sample(net, p, padding_mode='border', align_corners=True) | |
| net = self.maxpool(net) # out 32 | |
| net = self.actvn(self.conv_1(net)) | |
| net = self.actvn(self.conv_1_1(net)) | |
| net = self.conv1_1_bn(net) | |
| feature_3 = F.grid_sample(net, p, padding_mode='border', align_corners=True) | |
| net = self.maxpool(net) # out 16 | |
| net = self.actvn(self.conv_2(net)) | |
| net = self.actvn(self.conv_2_1(net)) | |
| net = self.conv2_1_bn(net) | |
| feature_4 = F.grid_sample(net, p, padding_mode='border', align_corners=True) | |
| net = self.maxpool(net) # out 8 | |
| net = self.actvn(self.conv_3(net)) | |
| net = self.actvn(self.conv_3_1(net)) | |
| net = self.conv3_1_bn(net) | |
| feature_5 = F.grid_sample(net, p, padding_mode='border', align_corners=True) | |
| net = self.maxpool(net) # out 4 | |
| net = self.actvn(self.conv_4(net)) | |
| net = self.actvn(self.conv_4_1(net)) | |
| net = self.conv4_1_bn(net) | |
| feature_6 = F.grid_sample(net, p, padding_mode='border', align_corners=True) # out 2 | |
| # here every channel corresponse to one feature. | |
| features = torch.cat(( | |
| feature_0_partial, feature_1_fused, feature_2, feature_3, feature_4, feature_5, | |
| feature_6 | |
| ), | |
| dim=1) # (B, features, 1,7,sample_num) | |
| shape = features.shape | |
| features = torch.reshape( | |
| features, (shape[0], shape[1] * shape[3], shape[4]) | |
| ) # (B, featues_per_sample, samples_num) | |
| # (B, featue_size, samples_num) | |
| features = torch.cat((features, p_features), dim=1) | |
| net = self.actvn(self.fc_0(features)) | |
| net = self.actvn(self.fc_1(net)) | |
| net = self.actvn(self.fc_2(net)) | |
| net = self.fc_out(net).squeeze(1) | |
| return net | |
| def compute_loss(self, prds, tgts): | |
| loss = self.l1_loss(prds, tgts) | |
| return loss | |