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update strong pointnet++

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hofee
2025-03-13 14:48:15 +08:00
parent 5a03659112
commit b20fa8bb75
6 changed files with 81 additions and 8 deletions
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32
modules/pointnet++_encoder.py
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@@ -33,6 +33,30 @@ ClsMSG_CFG_Light = {
'DP_RATIO': 0.5,
}
ClsMSG_CFG_Light_2048 = {
'NPOINTS': [512, 256, 128, None],
'RADIUS': [[0.02, 0.04], [0.04, 0.08], [0.08, 0.16], [None, None]],
'NSAMPLE': [[16, 32], [16, 32], [16, 32], [None, None]],
'MLPS': [[[16, 16, 32], [32, 32, 64]],
[[64, 64, 128], [64, 96, 128]],
[[128, 196, 256], [128, 196, 256]],
[[256, 256, 1024], [256, 512, 1024]]],
'DP_RATIO': 0.5,
}
ClsMSG_CFG_Strong = {
'NPOINTS': [512, 256, 128, 64, None],
'RADIUS': [[0.02, 0.04], [0.04, 0.08], [0.08, 0.16],[0.16, 0.32], [None, None]],
'NSAMPLE': [[16, 32], [16, 32], [16, 32], [16, 32], [None, None]],
'MLPS': [[[16, 16, 32], [32, 32, 64]],
[[64, 64, 128], [64, 96, 128]],
[[128, 196, 256], [128, 196, 256]],
[[256, 256, 512], [256, 512, 512]],
[[512, 512, 2048], [512, 1024, 2048]]
],
'DP_RATIO': 0.5,
}
ClsMSG_CFG_Lighter = {
'NPOINTS': [512, 256, 128, 64, None],
'RADIUS': [[0.01], [0.02], [0.04], [0.08], [None]],
@@ -53,6 +77,10 @@ def select_params(name):
return ClsMSG_CFG_Lighter
elif name == 'dense':
return ClsMSG_CFG_Dense
elif name == 'light_2048':
return ClsMSG_CFG_Light_2048
elif name == 'strong':
return ClsMSG_CFG_Strong
else:
raise NotImplementedError
@@ -114,8 +142,8 @@ if __name__ == '__main__':
seed = 100
torch.manual_seed(seed)
torch.cuda.manual_seed(seed)
net = PointNet2Encoder(config={"in_dim": 3, "params_name": "light"}).cuda()
pts = torch.randn(2, 1024, 3).cuda()
net = PointNet2Encoder(config={"in_dim": 3, "params_name": "strong"}).cuda()
pts = torch.randn(2, 2444, 3).cuda()
print(torch.mean(pts, dim=1))
pre = net.encode_points(pts)
print(pre.shape)