EPNet代码（3）

 self.backbone_net = Pointnet2MSG(input_channels =input_channels, use_xyz = use_xyz)

网络的Backbone，有三部分  1图片特征提取   2点云特征提取  和 3 融合特征。

 

1图片特征提取

 图片特征提取很简单就是3*3的卷积加上激活函数和归一化。

2融合部分代码

 ①融合部分的卷积代码

将图片和点云特征拼接起来

对应这部分    应该吧，别的投影到二维图上的代码我也没找到。

 ②特征融合

 

 

 ③网络主干pointNet++

    def _break_up_pc(self, pc):
        xyz = pc[..., 0:3].contiguous()
        features = (
            pc[..., 3:].transpose(1, 2).contiguous()
            if pc.size(-1) > 3 else None
        )

        return xyz, features


    def forward(self, pointcloud: torch.cuda.FloatTensor, image=None, xy=None):
        xyz, features = self._break_up_pc(pointcloud)

        l_xyz, l_features = [xyz], [features]

        if cfg.LI_FUSION.ENABLED:
            #### normalize xy to [-1,1]
            size_range = [1280.0, 384.0]
            xy[:, :, 0] = xy[:, :, 0] / (size_range[0] - 1.0) * 2.0 - 1.0
            xy[:, :, 1] = xy[:, :, 1] / (size_range[1] - 1.0) * 2.0 - 1.0  # = xy / (size_range - 1.) * 2 - 1.
            l_xy_cor = [xy]
            img = [image]
###归一化
        for i in range(len(self.SA_modules)):
            li_xyz, li_features, li_index = self.SA_modules[i](l_xyz[i], l_features[i])
###网络开始
            if cfg.LI_FUSION.ENABLED:
                li_index = li_index.long().unsqueeze(-1).repeat(1,1,2)
                li_xy_cor = torch.gather(l_xy_cor[i],1,li_index)
                image = self.Img_Block[i](img[i])
                #print(image.shape)
                img_gather_feature = Feature_Gather(image,li_xy_cor) #LI模块的第一部分

                li_features = self.Fusion_Conv[i](li_features,img_gather_feature)##Point—wise Image Feature
                l_xy_cor.append(li_xy_cor)
                img.append(image)

            l_xyz.append(li_xyz)
            l_features.append(li_features)


        for i in range(-1, -(len(self.FP_modules) + 1), -1):
            l_features[i - 1] = self.FP_modules[i](
                    l_xyz[i - 1], l_xyz[i], l_features[i - 1], l_features[i]
            )

        if cfg.LI_FUSION.ENABLED:
            #for i in range(1,len(img))
            DeConv = []
            for i in range(len(cfg.LI_FUSION.IMG_CHANNELS) - 1):
                DeConv.append(self.DeConv[i](img[i + 1]))
            de_concat = torch.cat(DeConv,dim=1)
###反卷积
            img_fusion = F.relu(self.image_fusion_bn(self.image_fusion_conv(de_concat)))
            img_fusion_gather_feature = Feature_Gather(img_fusion, xy)
            l_features[0] = self.final_fusion_img_point(l_features[0], img_fusion_gather_feature)

        return l_xyz[0], l_features[0]

 跟论文里面的网络图一样，卷积完事反卷积。