lidargaitv2 open-source
This commit is contained in:
Noah
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import torch
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import torch.nn as nn
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import torch.nn.functional as F
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from einops import rearrange
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from .lidargaitv2_utils import PointNetSetAbstraction, PPPooling, PPPooling_UDP,NetVLAD
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from ..base_model import BaseModel
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from ..modules import SeparateFCs, SeparateBNNecks
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class LidarGaitPlusPlus(BaseModel):
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def build_network(self, model_cfg):
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C = model_cfg['channel']
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C_out = model_cfg['SeparateFCs']['in_channels']
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scale_aware = model_cfg['scale_aware']
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normalize_dp = model_cfg['normalize_dp']
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sampling = model_cfg['sampling']
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npoints = model_cfg.get('npoints', [512, 256, 128])
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nsample = model_cfg.get('nsample', 32)
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in_channel = 4 if scale_aware else 3
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self.sa1 = PointNetSetAbstraction(npoint=npoints[0], radius=0.1, nsample=nsample, in_channel=in_channel, mlp=[2*C, 2*C, 4*C], group_all=False, sampling=sampling, scale_aware=scale_aware, normalize_dp=normalize_dp)
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self.sa2 = PointNetSetAbstraction(npoint=npoints[1], radius=0.2, nsample=nsample, in_channel=4*C + in_channel, mlp=[4*C, 4*C, 8*C], group_all=False, sampling=sampling, scale_aware=scale_aware, normalize_dp=normalize_dp)
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self.sa3 = PointNetSetAbstraction(npoint=npoints[2], radius=0.4, nsample=nsample, in_channel=8*C + in_channel, mlp=[8*C, 8*C, 16*C], group_all=False, sampling=sampling, scale_aware=scale_aware, normalize_dp=normalize_dp)
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self.sa4 = PointNetSetAbstraction(npoint=None, radius=None, nsample=None, in_channel=16*C + in_channel, mlp=[16*C, 16*C, C_out], group_all=True, sampling=sampling, scale_aware=scale_aware, normalize_dp=normalize_dp)
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if model_cfg['pool'] == 'VLAD':
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self.pool = NetVLAD(num_clusters=16, dim=C_out, alpha=1.0)
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elif model_cfg['pool'] == 'GMaxP':
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self.pool = PPPooling_UDP([1])
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elif model_cfg['pool'] == 'PPP_UDP':
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self.pool = PPPooling_UDP(model_cfg['scale'])
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elif model_cfg['pool'] == 'PPP_UAP':
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self.pool = PPPooling(scale_aware=False, bin_num=model_cfg['scale'])
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elif model_cfg['pool'] == 'PPP_HAP':
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self.pool = PPPooling(scale_aware=True, bin_num=model_cfg['scale'])
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self.BNNecks = SeparateBNNecks(**model_cfg['SeparateBNNecks'])
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self.FCs = SeparateFCs(**model_cfg['SeparateFCs'])
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def forward(self, inputs):
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ipts, labs, _, views, seqL = inputs
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xyz = ipts[0]
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B, T, N, C = xyz.shape
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xyz = rearrange(xyz, 'B T N C -> (B T) C N')
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l1_xyz, l1_points = self.sa1(xyz, None)
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l1_points = torch.max(l1_points, dim=-2)[0]
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l2_xyz, l2_points = self.sa2(l1_xyz, l1_points)
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l2_points = torch.max(l2_points, dim=-2)[0]
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l3_xyz, l3_points = self.sa3(l2_xyz, l2_points)
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l3_points = torch.max(l3_points, dim=-2)[0]
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l4_xyz, l4_points = self.sa4(l3_xyz, l3_points)
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x = self.pool(l4_points, l3_xyz)
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x = rearrange(x, '(B T) feat p -> B T feat p', B=B)
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feat = x.max(1)[0]# x.mean(1) # x.max(1)[0]
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embed = self.FCs(feat) # [n, c, p]
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embed_2, logits = self.BNNecks(embed) # [n, c, p]
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retval = {
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'training_feat': {
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'triplet': {'embeddings': embed, 'labels': labs},
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'softmax': {'logits': logits, 'labels': labs}
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},
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'visual_summary': {
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},
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'inference_feat': {
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'embeddings': embed,
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}
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}
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return retval
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import torch.nn as nn
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import torch.nn.functional as F
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import torch
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import torch.nn as nn
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import torch.utils.data
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import torch.nn.functional as F
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from einops import rearrange
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from torch.autograd import Variable
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import numpy as np
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def square_distance(src, dst):
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"""
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Calculate Euclid distance between each two points.
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src^T * dst = xn * xm + yn * ym + zn * zm；
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sum(src^2, dim=-1) = xn*xn + yn*yn + zn*zn;
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sum(dst^2, dim=-1) = xm*xm + ym*ym + zm*zm;
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dist = (xn - xm)^2 + (yn - ym)^2 + (zn - zm)^2
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= sum(src**2,dim=-1)+sum(dst**2,dim=-1)-2*src^T*dst
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Input:
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src: source points, [B, N, C]
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dst: target points, [B, M, C]
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Output:
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dist: per-point square distance, [B, N, M]
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"""
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B, N, _ = src.shape
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_, M, _ = dst.shape
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dist = -2 * torch.matmul(src, dst.permute(0, 2, 1))
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dist += torch.sum(src ** 2, -1).view(B, N, 1)
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dist += torch.sum(dst ** 2, -1).view(B, 1, M)
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return dist
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def index_points(points, idx):
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"""
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Input:
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points: input points data, [B, N, C]
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idx: sample index data, [B, S]
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Return:
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new_points:, indexed points data, [B, S, C]
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"""
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device = points.device
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B = points.shape[0]
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view_shape = list(idx.shape)
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view_shape[1:] = [1] * (len(view_shape) - 1)
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repeat_shape = list(idx.shape)
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repeat_shape[0] = 1
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batch_indices = torch.arange(B, dtype=torch.long).to(device).view(view_shape).repeat(repeat_shape)
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new_points = points[batch_indices, idx, :]
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return new_points
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def farthest_point_sample(xyz, npoint):
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"""
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Input:
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xyz: pointcloud data, [B, N, 3]
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npoint: number of samples
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Return:
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centroids: sampled pointcloud index, [B, npoint]
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"""
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device = xyz.device
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B, N, C = xyz.shape
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centroids = torch.zeros(B, npoint, dtype=torch.long).to(device)
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distance = torch.ones(B, N).to(device) * 1e10
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farthest = torch.randint(0, N, (B,), dtype=torch.long).to(device)
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batch_indices = torch.arange(B, dtype=torch.long).to(device)
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for i in range(npoint):
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centroids[:, i] = farthest
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centroid = xyz[batch_indices, farthest, :].view(B, 1, C)
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dist = torch.sum((xyz - centroid) ** 2, -1)
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mask = dist < distance
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distance[mask] = dist[mask]
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farthest = torch.max(distance, -1)[1]
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return centroids
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def ball_query(radius, nsample, xyz, new_xyz):
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"""
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Input:
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radius: local region radius
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nsample: max sample number in local region
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xyz: all points, [B, N, 3]
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new_xyz: query points, [B, S, 3]
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Return:
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group_idx: grouped points index, [B, S, nsample]
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"""
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device = xyz.device
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B, N, C = xyz.shape
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_, S, _ = new_xyz.shape
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group_idx = torch.arange(N, dtype=torch.long).to(device).view(1, 1, N).repeat([B, S, 1])
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xyz = xyz[:,:,:3]
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new_xyz = new_xyz[:,:,:3]
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sqrdists = square_distance(new_xyz, xyz)
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group_idx[sqrdists > radius ** 2] = N
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group_idx = group_idx.sort(dim=-1)[0][:, :, :nsample]
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group_first = group_idx[:, :, 0].view(B, S, 1).repeat([1, 1, nsample])
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mask = group_idx == N
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group_idx[mask] = group_first[mask]
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return group_idx
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def knn_query(k, xyz, new_xyz):
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"""
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Input:
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k: number of nearest neighbors to query
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xyz: all points, [B, N, 3]
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new_xyz: query points, [B, S, 3]
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Return:
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group_idx: indices of k-nearest neighbors, [B, S, k]
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"""
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B, N, C = xyz.shape
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_, S, _ = new_xyz.shape
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xyz = xyz[:,:,:3]
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new_xyz = new_xyz[:,:,:3]
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dists = square_distance(new_xyz, xyz)
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#scaling_factor = torch.Tensor([1, 1, 0.6]).to(new_xyz.device)
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#dists = torch.sum(torch.square(new_xyz.unsqueeze(2) - xyz.unsqueeze(1)) / scaling_factor, dim=-1)
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group_idx = dists.sort(dim=-1)[1][:, :, :k]
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return group_idx
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def sample_and_group(npoint, radius, nsample, xyz, points, returnfps=False, sampling='ball',scale_aware=False, normalize_dp=False):
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"""
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Input:
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npoint:
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radius:
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nsample:
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xyz: input points position data, [B, N, 3]
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points: input points data, [B, N, D]
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Return:
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new_xyz: sampled points position data, [B, npoint, nsample, 3]
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new_points: sampled points data, [B, npoint, nsample, 3+D]
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"""
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B, N, C = xyz.shape
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S = npoint
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fps_idx = farthest_point_sample(xyz[:,:,:3], npoint) # [B, npoint, C]
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new_xyz = index_points(xyz, fps_idx)
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if sampling == 'ball':
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idx = ball_query(radius, nsample, xyz, new_xyz)
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elif sampling == 'knn':
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idx = knn_query(nsample, xyz, new_xyz)
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else:
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raise ValueError("Unsupported sampling type. Use 'ball' or 'knn'.")
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grouped_xyz = index_points(xyz, idx) # [B, npoint, nsample, C]
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grouped_xyz_norm = grouped_xyz - new_xyz.view(B, S, 1, C)
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if normalize_dp: # and sampling!='knn':
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grouped_xyz_norm /= radius
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grouped_xyz_norm = grouped_xyz_norm if scale_aware else grouped_xyz_norm[:,:,:,:3]
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if points is not None:
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grouped_points = index_points(points, idx)
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new_points = torch.cat([grouped_xyz_norm, grouped_points], dim=-1) # [B, npoint, nsample, C+D]
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else:
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new_points = grouped_xyz_norm
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if returnfps:
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return new_xyz, new_points, grouped_xyz, fps_idx
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else:
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return new_xyz, new_points
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def sample_and_group_all(xyz, points, scale_aware=False):
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"""
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Input:
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xyz: input points position data, [B, N, 3]
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points: input points data, [B, N, D]
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Return:
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new_xyz: sampled points position data, [B, 1, 3]
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new_points: sampled points data, [B, 1, N, 3+D]
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"""
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device = xyz.device
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B, N, C = xyz.shape
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new_xyz = torch.zeros(B, 1, C).to(device)
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grouped_xyz = xyz.view(B, 1, N, C)
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grouped_xyz = grouped_xyz if scale_aware else grouped_xyz[:,:,:,:3]
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if points is not None:
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new_points = torch.cat([grouped_xyz, points.view(B, 1, N, -1)], dim=-1)
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else:
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new_points = grouped_xyz
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return new_xyz, new_points
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class PointNetSetAbstraction(nn.Module):
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def __init__(self, npoint, radius, nsample, in_channel, mlp, group_all, sampling='ball', scale_aware=False,normalize_dp=False):
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super(PointNetSetAbstraction, self).__init__()
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self.npoint = npoint
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self.radius = radius
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self.nsample = nsample
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self.mlp_convs = nn.ModuleList()
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self.mlp_bns = nn.ModuleList()
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last_channel = in_channel
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for out_channel in mlp:
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self.mlp_convs.append(nn.Conv2d(last_channel, out_channel, 1))
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self.mlp_bns.append(nn.BatchNorm2d(out_channel))
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last_channel = out_channel
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self.group_all = group_all
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self.scale_aware = scale_aware
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self.normalize_dp = normalize_dp
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self.sampling = sampling
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def forward(self, xyz, points):
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"""
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Input:
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xyz: input points position data, [B, C, N]
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points: input points data, [B, D, N]
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Return:
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new_xyz: sampled points position data, [B, C, S]
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new_points_concat: sample points feature data, [B, D', S]
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"""
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xyz = xyz.permute(0, 2, 1)
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if points is not None:
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points = points.permute(0, 2, 1)
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if self.group_all:
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new_xyz, new_points = sample_and_group_all(xyz, points, scale_aware=self.scale_aware)
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else:
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new_xyz, new_points = sample_and_group(self.npoint, self.radius, self.nsample, xyz, points, sampling=self.sampling, scale_aware=self.scale_aware,normalize_dp=self.normalize_dp)
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# new_xyz: sampled points position data, [B, ], C]
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# new_points: sampled points data, [B, npoint, nsample, C+D]
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new_points = new_points.permute(0, 3, 2, 1) # [B, C+D, nsample,npoint]
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for i, conv in enumerate(self.mlp_convs):
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bn = self.mlp_bns[i]
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new_points = F.relu(bn(conv(new_points)))
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new_points = new_points
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new_xyz = new_xyz.permute(0, 2, 1)
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return new_xyz, new_points
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class PPPooling_UDP():
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"""
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Hierarchically Clustered Point Pooling
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"""
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def __init__(self, bin_num=None):
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if bin_num is None:
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bin_num = [16, 8, 4, 2, 1]
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self.bin_num = bin_num
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def __call__(self, x, xyz):
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"""
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x : [n, c, h, w]
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xyz: [n, 3, p]
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ret: [n, c, p]
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"""
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#print(xyz.shape)
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#x = rearrange(x, 'b n c -> b c n 1')
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n, c = x.size()[:2]
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_, idx = xyz[:, 2, :].sort()
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x = x.gather(2, idx.unsqueeze(1).unsqueeze(-1).expand_as(x))
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features = []
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for b in self.bin_num:
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z = x.view(n, c, b, -1)
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z = z.mean(-1) + z.max(-1)[0]
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features.append(z)
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return torch.cat(features, -1)
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class PPPooling():
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def __init__(self, scale_aware=False, bin_num=None):
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# 默认设置多个分辨率的分bin数量
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self.bin_num = bin_num if bin_num is not None else [16, 8, 4, 2, 1]
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self.scale_aware = scale_aware
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def __call__(self, point_clouds, points):
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# 调整维度：输入 point_clouds: B x C x N x 1 转换为 B x N x C，
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# points: B x C x N 转换为 B x N x C
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point_clouds = rearrange(point_clouds, 'B C N 1 -> B N C')
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points = rearrange(points, 'B C N -> B N C')
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B, N, C = point_clouds.shape
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if self.scale_aware: # PPPooling_HAP
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z = points[:, :, 3] # shape: (B, N)
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# 固定的 z 范围（例如：0 到 2）
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z_min, z_max = 0.0, 2.0
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else:
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# PPPooling_UAP
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# 使用 points 的第 3 个通道作为 z 坐标，归一化到 [0, 1]
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z = points[:, :, 2] # shape: (B, N)
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z_min = z.min(dim=1, keepdim=True)[0][0].item()
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z_max = z.max(dim=1, keepdim=True)[0][0].item()
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z_range = z_max - z_min + 1e-6
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z = (z - z_min) / z_range # shape: (B, N)
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z_min, z_max = 0.0, 1.0
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all_pooled = []
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for M in self.bin_num:
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# 由于 z 已归一化，直接构造均匀分布的 bin 边界
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edges = torch.linspace(z_min, z_max, steps=M + 1, device=point_clouds.device)
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# 利用 bucketize 将每个点分配到 [0, M-1] 内的 bin（不需要额外处理首尾）
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# 注意：这里使用 edges[1:-1] 作为分界，保证边界值归到正确 bin
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bin_idx = torch.bucketize(z.contiguous(), edges[1:-1], right=False) # shape: (B, N)
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# 为每个 bin计算 max 和 mean 池化值，利用 scatter_reduce 与 scatter_add 操作：
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# 构造初始 tensor，形状均为 (B, M, C)
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pooled_max = torch.full((B, M, C), float('-inf'), device=point_clouds.device, dtype=point_clouds.dtype)
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pooled_sum = torch.zeros((B, M, C), device=point_clouds.device, dtype=point_clouds.dtype)
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counts = torch.zeros((B, M, 1), device=point_clouds.device, dtype=point_clouds.dtype)
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# 将 bin_idx 扩展到与 point_clouds 对应的维度 (B, N, C)
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bin_idx_exp = bin_idx.unsqueeze(-1).expand(-1, -1, C)
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# max 池化：scatter_reduce 计算每个 bin 内的最大值
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pooled_max = pooled_max.scatter_reduce(1, bin_idx_exp, point_clouds, reduce='amax', include_self=True)
|
||||
# sum 池化：scatter_add 计算每个 bin 内的和
|
||||
pooled_sum = pooled_sum.scatter_add(1, bin_idx_exp, point_clouds)
|
||||
# 计算每个 bin 的计数
|
||||
counts = counts.scatter_add(1, bin_idx.unsqueeze(-1), torch.ones((B, N, 1), device=point_clouds.device))
|
||||
# 计算 mean 池化
|
||||
pooled_mean = pooled_sum / counts.clamp(min=1)
|
||||
# 这里采用 max 与 mean 的和作为最终池化结果（也可以用 concat）
|
||||
pooled = pooled_max + pooled_mean
|
||||
# 将没有点（max为 -inf）的 bin 置 0
|
||||
pooled[pooled == float('-inf')] = 0
|
||||
|
||||
all_pooled.append(pooled)
|
||||
|
||||
# 将各分辨率下的池化结果在 bin 维度上拼接，并调整为 B x C x M_total
|
||||
output = torch.cat(all_pooled, dim=1)
|
||||
output = rearrange(output, 'B M C -> B C M')
|
||||
return output
|
||||
|
||||
|
||||
class NetVLAD(nn.Module):
|
||||
"""NetVLAD layer implementation"""
|
||||
|
||||
def __init__(self, num_clusters=64, dim=128, alpha=100.0,
|
||||
normalize_input=True):
|
||||
"""
|
||||
Args:
|
||||
num_clusters : int
|
||||
The number of clusters
|
||||
dim : int
|
||||
Dimension of descriptors
|
||||
alpha : float
|
||||
Parameter of initialization. Larger value is harder assignment.
|
||||
normalize_input : bool
|
||||
If true, descriptor-wise L2 normalization is applied to input.
|
||||
"""
|
||||
super(NetVLAD, self).__init__()
|
||||
self.num_clusters = num_clusters
|
||||
self.dim = dim
|
||||
self.alpha = alpha
|
||||
self.normalize_input = normalize_input
|
||||
self.conv = nn.Conv2d(dim, num_clusters, kernel_size=(1, 1), bias=True)
|
||||
self.centroids = nn.Parameter(torch.rand(num_clusters, dim))
|
||||
self._init_params()
|
||||
|
||||
def _init_params(self):
|
||||
self.conv.weight = nn.Parameter(
|
||||
(2.0 * self.alpha * self.centroids).unsqueeze(-1).unsqueeze(-1)
|
||||
)
|
||||
self.conv.bias = nn.Parameter(
|
||||
- self.alpha * self.centroids.norm(dim=1)
|
||||
)
|
||||
|
||||
def forward(self, x, xyz):
|
||||
N, C = x.shape[:2]
|
||||
|
||||
if self.normalize_input:
|
||||
x = F.normalize(x, p=2, dim=1) # across descriptor dim
|
||||
|
||||
# soft-assignment
|
||||
soft_assign = self.conv(x).view(N, self.num_clusters, -1)
|
||||
soft_assign = F.softmax(soft_assign, dim=1)
|
||||
|
||||
x_flatten = x.view(N, C, -1)
|
||||
|
||||
# calculate residuals to each clusters
|
||||
residual = x_flatten.expand(self.num_clusters, -1, -1, -1).permute(1, 0, 2, 3) - \
|
||||
self.centroids.expand(x_flatten.size(-1), -1, -1).permute(1, 2, 0).unsqueeze(0)
|
||||
residual *= soft_assign.unsqueeze(2)
|
||||
vlad = residual.sum(dim=-1)
|
||||
|
||||
vlad = F.normalize(vlad, p=2, dim=2) # intra-normalization
|
||||
vlad = vlad.view(x.size(0), -1) # flatten b num c -> b num c
|
||||
vlad = F.normalize(vlad, p=2, dim=1) # L2 normalize
|
||||
return vlad.unsqueeze(-1)
|
||||
Reference in New Issue
Block a user