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""" |
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Copied from: |
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https://github.com/mit-han-lab/spvnas/blob/b24f50379ed888d3a0e784508a809d4e92e820c0/core/models/utils.py |
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""" |
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import torch |
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import torchsparse.nn.functional as F |
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from torchsparse import PointTensor, SparseTensor |
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from torchsparse.nn.utils import get_kernel_offsets |
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import numpy as np |
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def initial_voxelize(z, init_res, after_res): |
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new_float_coord = torch.cat( |
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[(z.C[:, :3] * init_res) / after_res, z.C[:, -1].view(-1, 1)], 1) |
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pc_hash = F.sphash(torch.floor(new_float_coord).int()) |
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sparse_hash = torch.unique(pc_hash) |
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idx_query = F.sphashquery(pc_hash, sparse_hash) |
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counts = F.spcount(idx_query.int(), len(sparse_hash)) |
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inserted_coords = F.spvoxelize(torch.floor(new_float_coord), idx_query, |
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counts) |
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inserted_coords = torch.round(inserted_coords).int() |
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inserted_feat = F.spvoxelize(z.F, idx_query, counts) |
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new_tensor = SparseTensor(inserted_feat, inserted_coords, 1) |
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new_tensor.cmaps.setdefault(new_tensor.stride, new_tensor.coords) |
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z.additional_features['idx_query'][1] = idx_query |
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z.additional_features['counts'][1] = counts |
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z.C = new_float_coord |
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return new_tensor |
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def point_to_voxel(x, z): |
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if z.additional_features is None or z.additional_features.get('idx_query') is None \ |
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or z.additional_features['idx_query'].get(x.s) is None: |
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pc_hash = F.sphash( |
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torch.cat([ |
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torch.floor(z.C[:, :3] / x.s[0]).int() * x.s[0], |
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z.C[:, -1].int().view(-1, 1) |
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], 1)) |
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sparse_hash = F.sphash(x.C) |
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idx_query = F.sphashquery(pc_hash, sparse_hash) |
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counts = F.spcount(idx_query.int(), x.C.shape[0]) |
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z.additional_features['idx_query'][x.s] = idx_query |
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z.additional_features['counts'][x.s] = counts |
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else: |
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idx_query = z.additional_features['idx_query'][x.s] |
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counts = z.additional_features['counts'][x.s] |
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inserted_feat = F.spvoxelize(z.F, idx_query, counts) |
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new_tensor = SparseTensor(inserted_feat, x.C, x.s) |
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new_tensor.cmaps = x.cmaps |
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new_tensor.kmaps = x.kmaps |
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return new_tensor |
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def voxel_to_point(x, z, nearest=False): |
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if z.idx_query is None or z.weights is None or z.idx_query.get( |
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x.s) is None or z.weights.get(x.s) is None: |
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off = get_kernel_offsets(2, x.s, 1, device=z.F.device) |
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old_hash = F.sphash( |
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torch.cat([ |
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torch.floor(z.C[:, :3] / x.s[0]).int() * x.s[0], |
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z.C[:, -1].int().view(-1, 1) |
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], 1), off) |
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mm = x.C.to(z.F.device) |
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pc_hash = F.sphash(x.C.to(z.F.device)) |
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idx_query = F.sphashquery(old_hash, pc_hash) |
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weights = F.calc_ti_weights(z.C, idx_query, |
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scale=x.s[0]).transpose(0, 1).contiguous() |
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idx_query = idx_query.transpose(0, 1).contiguous() |
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if nearest: |
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weights[:, 1:] = 0. |
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idx_query[:, 1:] = -1 |
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new_feat = F.spdevoxelize(x.F, idx_query, weights) |
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new_tensor = PointTensor(new_feat, |
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z.C, |
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idx_query=z.idx_query, |
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weights=z.weights) |
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new_tensor.additional_features = z.additional_features |
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new_tensor.idx_query[x.s] = idx_query |
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new_tensor.weights[x.s] = weights |
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z.idx_query[x.s] = idx_query |
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z.weights[x.s] = weights |
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else: |
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new_feat = F.spdevoxelize(x.F, z.idx_query.get(x.s), |
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z.weights.get(x.s)) |
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new_tensor = PointTensor(new_feat, |
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z.C, |
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idx_query=z.idx_query, |
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weights=z.weights) |
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new_tensor.additional_features = z.additional_features |
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return new_tensor |
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def sparse_to_dense_torch_batch(locs, values, dim, default_val): |
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dense = torch.full([dim[0], dim[1], dim[2], dim[3]], float(default_val), device=locs.device) |
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dense[locs[:, 0], locs[:, 1], locs[:, 2], locs[:, 3]] = values |
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return dense |
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def sparse_to_dense_torch(locs, values, dim, default_val, device): |
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dense = torch.full([dim[0], dim[1], dim[2]], float(default_val), device=device) |
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if locs.shape[0] > 0: |
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dense[locs[:, 0], locs[:, 1], locs[:, 2]] = values |
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return dense |
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def sparse_to_dense_channel(locs, values, dim, c, default_val, device): |
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locs = locs.to(torch.int64) |
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dense = torch.full([dim[0], dim[1], dim[2], c], float(default_val), device=device) |
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if locs.shape[0] > 0: |
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dense[locs[:, 0], locs[:, 1], locs[:, 2]] = values |
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return dense |
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def sparse_to_dense_np(locs, values, dim, default_val): |
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dense = np.zeros([dim[0], dim[1], dim[2]], dtype=values.dtype) |
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dense.fill(default_val) |
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dense[locs[:, 0], locs[:, 1], locs[:, 2]] = values |
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return dense |
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