spconv学习笔记

SparseConvolution

__init__

输入：

• ndim：kernel_size, stride等需要复制的维度
• in_channels: weight输入维度
• out_channels: weight输出维度
• kernel_size, stride, padding, dilation, groups, bias与Conv2d定义相同
• subm: bool, 有没有submanifold
• output_padding: deconv是output需要padding的大小
• transposed: 是不是反卷积
• inverse：是不是inverse （这里不懂）
• indice_key: 用在input.find_indice_pair中 （这里不懂）
• fused_bn: 是否融合conv和bn
  初始化SparseConv的weight和bias

self.weight = Parameter(torch.Tensor(*kernel_size, in_channels, out_channels))
if bias:
	self.bias = Parameter(torch.Tensor(out_channels))

reset_parameters

tensor初始化

forward

输入input是SparseConvTensor

SparseConvTensor

调用方式：

"""
voxel_features (torch.float32): Voxel features in shape (N, C).
coors (torch.int32): Coordinates in shape (N, 4), \
		the columns in the order of (batch_idx, z_idx, y_idx, x_idx).
self.sparse_shape (list[int]): Teh sparse shape of input tensor.
batch_size (int): Batch size
"""
input_sp_tensor = spconv.SparseConvTensor(voxel_features, coors, self.sparse_shape, batch_size)

__init__

• features: (N, C) e.g. voxel features
• indices: coors (N, 4)
• spatial_shape: sparse_shape e.g. [41, 160, 1408] in SECOND
• batch_size: batch_size
• grid: 当spatial shape特别大时，要pre-allocate grid tensor
• indice_dict: 初始化空{}

spatial_size

返回spatials_shape各个元素累乘值

find_indice_pair(self, key)

这里用过
key不是None时，返回indice_dict[key]
indice_dict：

input.indice_dict[self.indice_key] = (outids, indices, indice_pairs, indice_pair_num, spatial_shape)

初始化时，outids, indice_pairs, indice_pair_num通过ops.get_indice_pairs得到

get_indice_pairs

• indices: coors (N, 4) batch_idx, z_idx, y_idx, x_idx
• batch_size, spatial_shape, ksize等与其他定义相同

当非子流形时，out_shape由get_deconv_output_size或get_conv_output_size求出。

• get_conv_output_size:
  ** 输入：input_size=spatial_shape=sparse_shape e.g. [41, 160, 1408] in SECOND
  ** $output\_siz{e}_i=\frac{input\_siz{e}_i+2\ast p_i-d_i\ast (k_i-1)-1}{s_i}+1$
• get_deconv_output_size
  ** $output\_siz{e}_i=(input\_siz{e}_i-1)\ast s_i-2\ast p_i+k_i+out\_p_i$

当子流形时:output_shape=spatial_shape=sparse_shape
真正调用的是sparse_conv_ext.get_indice_pairs_grid_Nd或sparse_conv_ext.get_indice_pairs_Nd
getIndicePair:

ops.fused_indice_conv / fusedIndiceConvBatchNorm

输入：

• features：提取的features 比如voxel_features
• self.weight: （*k, cin, cout)
• self.bias: (cout)
• indice_pairs / indicePairs （这里不懂）
• indice_pair_num / indiceNum （这里不懂）
• outids.shape[0] / numActOut （这里不懂）

filters view成(-1, cin, cout)维度

1. if subM: N*cin*cout+cout （对么）
2. if not subM: