PointTransformer v1中的TransitionUp和TransitionDown模块

代码地址：https://github.com/POSTECH-CVLab/point-transformer/blob/master/model/pointtransformer/pointtransformer_seg.py

class TransitionDown(nn.Module):
    def __init__(self, in_planes, out_planes, stride=1, nsample=16):
        super().__init__()
        self.stride, self.nsample = stride, nsample
        if stride != 1:
            self.linear = nn.Linear(3+in_planes, out_planes, bias=False)
            self.pool = nn.MaxPool1d(nsample)
        else:
            self.linear = nn.Linear(in_planes, out_planes, bias=False)
        self.bn = nn.BatchNorm1d(out_planes)
        self.relu = nn.ReLU(inplace=True)
        
    def forward(self, pxo):
        p, x, o = pxo  # (n, 3), (n, c), (b)
        if self.stride != 1:
            n_o, count = [o[0].item() // self.stride], o[0].item() // self.stride
            for i in range(1, o.shape[0]):
                count += (o[i].item() - o[i-1].item()) // self.stride
                n_o.append(count)
            n_o = torch.cuda.IntTensor(n_o)
            idx = pointops.furthestsampling(p, o, n_o)  # (m)
            n_p = p[idx.long(), :]  # (m, 3)
            x = pointops.queryandgroup(self.nsample, p, n_p, x, None, o, n_o, use_xyz=True)  # (m, 3+c, nsample)
            x = self.relu(self.bn(self.linear(x).transpose(1, 2).contiguous()))  # (m, c, nsample)
            x = self.pool(x).squeeze(-1)  # (m, c)
            p, o = n_p, n_o
        else:
            x = self.relu(self.bn(self.linear(x)))  # (n, c)
        return [p, x, o]

相当于最远距离采样+maxpool，中间有一些线性转换和非线形激活层。

class TransitionUp(nn.Module):
    def __init__(self, in_planes, out_planes=None):
        super().__init__()
        if out_planes is None:
            self.linear1 = nn.Sequential(nn.Linear(2*in_planes, in_planes), nn.BatchNorm1d(in_planes), nn.ReLU(inplace=True))
            self.linear2 = nn.Sequential(nn.Linear(in_planes, in_planes), nn.ReLU(inplace=True))
        else:
            self.linear1 = nn.Sequential(nn.Linear(out_planes, out_planes), nn.BatchNorm1d(out_planes), nn.ReLU(inplace=True))
            self.linear2 = nn.Sequential(nn.Linear(in_planes, out_planes), nn.BatchNorm1d(out_planes), nn.ReLU(inplace=True))
        
    def forward(self, pxo1, pxo2=None):
        if pxo2 is None:
            _, x, o = pxo1  # (n, 3), (n, c), (b)
            x_tmp = []
            for i in range(o.shape[0]):
                if i == 0:
                    s_i, e_i, cnt = 0, o[0], o[0]
                else:
                    s_i, e_i, cnt = o[i-1], o[i], o[i] - o[i-1]
                x_b = x[s_i:e_i, :]
                x_b = torch.cat((x_b, self.linear2(x_b.sum(0, True) / cnt).repeat(cnt, 1)), 1)
                x_tmp.append(x_b)
            x = torch.cat(x_tmp, 0)
            x = self.linear1(x)
        else:
            p1, x1, o1 = pxo1; p2, x2, o2 = pxo2
            x = self.linear1(x1) + pointops.interpolation(p2, p1, self.linear2(x2), o2, o1)
        return x

上采样和求和。