代码：
import torch
import torch.nn as nn
import torch.nn.functional as F
from time import time
import numpy as np
def timeit(tag, t):
print("{}: {}s".format(tag, time() - t))
return time()
def pc_normalize(pc):
l = pc.shape[0]
centroid = np.mean(pc, axis=0)
pc = pc - centroid
m = np.max(np.sqrt(np.sum(pc**2, axis=1)))
pc = pc / m
return pc
def square_distance(src, dst):
"""
Calculate Euclid distance between each two points.
src^T * dst = xn * xm + yn * ym + zn * zm；
sum(src^2, dim=-1) = xn*xn + yn*yn + zn*zn;
sum(dst^2, dim=-1) = xm*xm + ym*ym + zm*zm;
dist = (xn - xm)^2 + (yn - ym)^2 + (zn - zm)^2
= sum(src**2,dim=-1)+sum(dst**2,dim=-1)-2*src^T*dst
Input:
src: source points, [B, N, C]
dst: target points, [B, M, C]
Output:
dist: per-point square distance, [B, N, M]
"""
B, N, _ = src.shape
_, M, _ = dst.shape
dist = -2 * torch.matmul(src, dst.permute(0, 2, 1))
dist += torch.sum(src ** 2, -1).view(B, N, 1)
dist += torch.sum(dst ** 2, -1).view(B, 1, M)
return dist
def index_points(points, idx):
"""
Input:
points: input points data, [B, N, C]
idx: sample index data, [B, S]
Return:
new_points:, indexed points data, [B, S, C]
"""
device = points.device
B = points.shape[0]
view_shape = list(idx.shape)
view_shape[1:] = [1] * (len(view_shape) - 1)
repeat_shape = list(idx.shape)
repeat_shape[0] = 1
batch_indices = torch.arange(B, dtype=torch.long).to(device).view(view_shape).repeat(repeat_shape)
new_points = points[batch_indices, idx, :]
return new_points
def farthest_point_sample(xyz, npoint):
"""
Input:
xyz: pointcloud data, [B, N, 3]
npoint: number of samples
Return:
centroids: sampled pointcloud index, [B, npoint]
"""
device = xyz.device
B, N, C = xyz.shape
centroids = torch.zeros(B, npoint, dtype=torch.long).to(device)#8*512
distance = torch.ones(B, N).to(device) * 1e10 #8*1024
farthest = torch.randint(0, N, (B,), dtype=torch.long).to(device)#batch里每个样本随机初始化一个最远点的索引
batch_indices = torch.arange(B, dtype=torch.long).to(device)
for i in range(npoint):
centroids[:, i] = farthest #第一个采样点选随机初始化的索引
centroid = xyz[batch_indices, farthest, :].view(B, 1, 3)#得到当前采样点的坐标 B*3
dist = torch.sum((xyz - centroid) ** 2, -1)#计算当前采样点与其他点的距离
mask = dist < distance#选择距离最近的来更新距离（更新维护这个表）
distance[mask] = dist[mask]#
farthest = torch.max(distance, -1)[1]#重新计算得到最远点索引（在更新的表中选择距离最大的那个点）
return centroids
def query_ball_point(radius, nsample, xyz, new_xyz):
"""
Input:
radius: local region radius
nsample: max sample number in local region
xyz: all points, [B, N, 3]
new_xyz: query points, [B, S, 3]
Return:
group_idx: grouped points index, [B, S, nsample]
"""
device = xyz.device
B, N, C = xyz.shape
_, S, _ = new_xyz.shape
group_idx = torch.arange(N, dtype=torch.long).to(device).view(1, 1, N).repeat([B, S, 1])
sqrdists = square_distance(new_xyz, xyz)#得到B N M （就是N个点中每一个和M中每一个的欧氏距离）
group_idx[sqrdists > radius ** 2] = N #找到距离大于给定半径的设置成一个N值（1024）索引
group_idx = group_idx.sort(dim=-1)[0][:, :, :nsample]#做升序排序，后面的都是大的值（1024）
group_first = group_idx[:, :, 0].view(B, S, 1).repeat([1, 1, nsample])#如果半径内的点没那么多，就直接用第一个点来代替了。。。
mask = group_idx == N
group_idx[mask] = group_first[mask]
return group_idx
def sample_and_group(npoint, radius, nsample, xyz, points, returnfps=False):
"""
Input:
npoint:
radius:
nsample:
xyz: input points position data, [B, N, 3]
points: input points data, [B, N, D]
Return:
new_xyz: sampled points position data, [B, npoint, nsample, 3]
new_points: sampled points data, [B, npoint, nsample, 3+D]
"""
B, N, C = xyz.shape
S = npoint
fps_idx = farthest_point_sample(xyz, npoint) # [B, npoint, C]
torch.cuda.empty_cache()
new_xyz = index_points(xyz, fps_idx)
torch.cuda.empty_cache()
idx = query_ball_point(radius, nsample, xyz, new_xyz)
torch.cuda.empty_cache()
grouped_xyz = index_points(xyz, idx) # [B, npoint, nsample, C]
torch.cuda.empty_cache()
grouped_xyz_norm = grouped_xyz - new_xyz.view(B, S, 1, C)
torch.cuda.empty_cache()
if points is not None:
grouped_points = index_points(points, idx)
new_points = torch.cat([grouped_xyz_norm, grouped_points], dim=-1) # [B, npoint, nsample, C+D]
else:
new_points = grouped_xyz_norm
if returnfps:
return new_xyz, new_points, grouped_xyz, fps_idx
else:
return new_xyz, new_points
def sample_and_group_all(xyz, points):
"""
Input:
xyz: input points position data, [B, N, 3]
points: input points data, [B, N, D]
Return:
new_xyz: sampled points position data, [B, 1, 3]
new_points: sampled points data, [B, 1, N, 3+D]
"""
device = xyz.device
B, N, C = xyz.shape
new_xyz = torch.zeros(B, 1, C).to(device)
grouped_xyz = xyz.view(B, 1, N, C)
if points is not None:
new_points = torch.cat([grouped_xyz, points.view(B, 1, N, -1)], dim=-1)
else:
new_points = grouped_xyz
return new_xyz, new_points
class PointNetSetAbstraction(nn.Module):
def __init__(self, npoint, radius, nsample, in_channel, mlp, group_all):
super(PointNetSetAbstraction, self).__init__()
self.npoint = npoint
self.radius = radius
self.nsample = nsample
self.mlp_convs = nn.ModuleList()
self.mlp_bns = nn.ModuleList()
last_channel = in_channel
for out_channel in mlp:
self.mlp_convs.append(nn.Conv2d(last_channel, out_channel, 1))
self.mlp_bns.append(nn.BatchNorm2d(out_channel))
last_channel = out_channel
self.group_all = group_all
def forward(self, xyz, points):
"""
Input:
xyz: input points position data, [B, C, N]
points: input points data, [B, D, N]
Return:
new_xyz: sampled points position data, [B, C, S]
new_points_concat: sample points feature data, [B, D', S]
"""
xyz = xyz.permute(0, 2, 1)
print(xyz.shape)
if points is not None:
points = points.permute(0, 2, 1)
print(points.shape)
if self.group_all:
new_xyz, new_points = sample_and_group_all(xyz, points)
else:
new_xyz, new_points = sample_and_group(self.npoint, self.radius, self.nsample, xyz, points)
# new_xyz: sampled points position data, [B, npoint, C]
# new_points: sampled points data, [B, npoint, nsample, C+D]
print(new_points.shape)
new_points = new_points.permute(0, 3, 2, 1) # [B, C+D, nsample,npoint]
print(new_points.shape)
for i, conv in enumerate(self.mlp_convs):
bn = self.mlp_bns[i]
new_points = F.relu(bn(conv(new_points)))
print(new_points.shape)
new_points = torch.max(new_points, 2)[0]
print(new_points.shape)
new_xyz = new_xyz.permute(0, 2, 1)
print(new_xyz.shape)
return new_xyz, new_points
class PointNetSetAbstractionMsg(nn.Module):
def __init__(self, npoint, radius_list, nsample_list, in_channel, mlp_list):
super(PointNetSetAbstractionMsg, self).__init__()
self.npoint = npoint
self.radius_list = radius_list
self.nsample_list = nsample_list
self.conv_blocks = nn.ModuleList()
self.bn_blocks = nn.ModuleList()
for i in range(len(mlp_list)):
convs = nn.ModuleList()
bns = nn.ModuleList()
last_channel = in_channel + 3
for out_channel in mlp_list[i]:
convs.append(nn.Conv2d(last_channel, out_channel, 1))
bns.append(nn.BatchNorm2d(out_channel))
last_channel = out_channel
self.conv_blocks.append(convs)
self.bn_blocks.append(bns)
def forward(self, xyz, points):
"""
Input:
xyz: input points position data, [B, C, N]
points: input points data, [B, D, N]
Return:
new_xyz: sampled points position data, [B, C, S]
new_points_concat: sample points feature data, [B, D', S]
"""
xyz = xyz.permute(0, 2, 1) #就是坐标点位置特征
print(xyz.shape)
if points is not None:
points = points.permute(0, 2, 1) ##就是额外提取的特征，第一次的时候就是那个法向量特征
print(points.shape)
B, N, C = xyz.shape
S = self.npoint
new_xyz = index_points(xyz, farthest_point_sample(xyz, S))#采样后的点
print(new_xyz.shape)
new_points_list = []
for i, radius in enumerate(self.radius_list):
K = self.nsample_list[i]
group_idx = query_ball_point(radius, K, xyz, new_xyz)#返回的是索引
grouped_xyz = index_points(xyz, group_idx)#得到各个组中实际点
grouped_xyz -= new_xyz.view(B, S, 1, C)#去mean new_xyz相当于簇的中心点
if points is not None:
grouped_points = index_points(points, group_idx)
grouped_points = torch.cat([grouped_points, grouped_xyz], dim=-1)
print(grouped_points.shape)
else:
grouped_points = grouped_xyz
grouped_points = grouped_points.permute(0, 3, 2, 1) # [B, D, K, S]
print(grouped_points.shape)
for j in range(len(self.conv_blocks[i])):
conv = self.conv_blocks[i][j]
bn = self.bn_blocks[i][j]
grouped_points = F.relu(bn(conv(grouped_points)))
print(grouped_points.shape)
new_points = torch.max(grouped_points, 2)[0] # [B, D', S] 就是pointnet里的maxpool操作
print(new_points.shape)
new_points_list.append(new_points)
new_xyz = new_xyz.permute(0, 2, 1)
new_points_concat = torch.cat(new_points_list, dim=1)
print(new_points_concat.shape)
return new_xyz, new_points_concat
class PointNetFeaturePropagation(nn.Module):
def __init__(self, in_channel, mlp):
super(PointNetFeaturePropagation, self).__init__()
self.mlp_convs = nn.ModuleList()
self.mlp_bns = nn.ModuleList()
last_channel = in_channel
for out_channel in mlp:
self.mlp_convs.append(nn.Conv1d(last_channel, out_channel, 1))
self.mlp_bns.append(nn.BatchNorm1d(out_channel))
last_channel = out_channel
def forward(self, xyz1, xyz2, points1, points2):
"""
Input:
xyz1: input points position data, [B, C, N]
xyz2: sampled input points position data, [B, C, S]
points1: input points data, [B, D, N]
points2: input points data, [B, D, S]
Return:
new_points: upsampled points data, [B, D', N]
"""
xyz1 = xyz1.permute(0, 2, 1)
xyz2 = xyz2.permute(0, 2, 1)
print(xyz1.shape)
print(xyz2.shape)
points2 = points2.permute(0, 2, 1)
print(points2.shape)
B, N, C = xyz1.shape
_, S, _ = xyz2.shape
if S == 1:
interpolated_points = points2.repeat(1, N, 1)
print(interpolated_points.shape)
else:
dists = square_distance(xyz1, xyz2)
print(dists.shape)
dists, idx = dists.sort(dim=-1)
dists, idx = dists[:, :, :3], idx[:, :, :3] # [B, N, 3]
dist_recip = 1.0 / (dists + 1e-8)
norm = torch.sum(dist_recip, dim=2, keepdim=True)
weight = dist_recip / norm
print(weight.shape)
print(index_points(points2, idx).shape)
interpolated_points = torch.sum(index_points(points2, idx) * weight.view(B, N, 3, 1), dim=2)
print(interpolated_points.shape)
if points1 is not None:
points1 = points1.permute(0, 2, 1)
new_points = torch.cat([points1, interpolated_points], dim=-1)
else:
new_points = interpolated_points
print(new_points.shape)
new_points = new_points.permute(0, 2, 1)
print(new_points.shape)
for i, conv in enumerate(self.mlp_convs):
bn = self.mlp_bns[i]
new_points = F.relu(bn(conv(new_points)))
print(new_points.shape)
return new_points
代码解释：
该代码是用于实现PointNet模型的一些基本操作。
首先，导入了必要的库，包括torch、torch.nn、torch.nn.functional和numpy。
函数timeit用于计算代码的执行时间。
函数pc_normalize对点云数据进行归一化处理。
函数square_distance计算每两个点之间的欧氏距离。
函数index_points根据索引将点云数据进行索引操作。
函数farthest_point_sample根据最远点采样算法从点云数据中选择一定数量的采样点。
函数query_ball_point根据给定的半径从点云数据中选择一定数量的相邻点。
函数sample_and_group根据最远点采样和查询球算法对点云数据进行采样和分组操作。
函数sample_and_group_all将所有的点作为一个组进行采样和分组操作。
类PointNetSetAbstraction定义了点云的集合抽象操作，包括最远点采样、查询球和特征聚合。
类PointNetSetAbstractionMsg沿袭了PointNetSetAbstraction的思路，采用多尺度的查询球操作。
类PointNetFeaturePropagation定义了点云特征传播操作，包括特征插值和特征融合。
以上是该代码的主要功能和部分解释。
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