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| # Copyright (c) OpenMMLab. All rights reserved. | |
| import torch | |
| from torch import nn | |
| from torch.autograd import Function | |
| from torch.nn.modules.utils import _pair | |
| from ..utils import ext_loader | |
| ext_module = ext_loader.load_ext( | |
| '_ext', ['dynamic_voxelize_forward', 'hard_voxelize_forward']) | |
| class _Voxelization(Function): | |
| def forward(ctx, | |
| points, | |
| voxel_size, | |
| coors_range, | |
| max_points=35, | |
| max_voxels=20000): | |
| """Convert kitti points(N, >=3) to voxels. | |
| Args: | |
| points (torch.Tensor): [N, ndim]. Points[:, :3] contain xyz points | |
| and points[:, 3:] contain other information like reflectivity. | |
| voxel_size (tuple or float): The size of voxel with the shape of | |
| [3]. | |
| coors_range (tuple or float): The coordinate range of voxel with | |
| the shape of [6]. | |
| max_points (int, optional): maximum points contained in a voxel. if | |
| max_points=-1, it means using dynamic_voxelize. Default: 35. | |
| max_voxels (int, optional): maximum voxels this function create. | |
| for second, 20000 is a good choice. Users should shuffle points | |
| before call this function because max_voxels may drop points. | |
| Default: 20000. | |
| Returns: | |
| voxels_out (torch.Tensor): Output voxels with the shape of [M, | |
| max_points, ndim]. Only contain points and returned when | |
| max_points != -1. | |
| coors_out (torch.Tensor): Output coordinates with the shape of | |
| [M, 3]. | |
| num_points_per_voxel_out (torch.Tensor): Num points per voxel with | |
| the shape of [M]. Only returned when max_points != -1. | |
| """ | |
| if max_points == -1 or max_voxels == -1: | |
| coors = points.new_zeros(size=(points.size(0), 3), dtype=torch.int) | |
| ext_module.dynamic_voxelize_forward(points, coors, voxel_size, | |
| coors_range, 3) | |
| return coors | |
| else: | |
| voxels = points.new_zeros( | |
| size=(max_voxels, max_points, points.size(1))) | |
| coors = points.new_zeros(size=(max_voxels, 3), dtype=torch.int) | |
| num_points_per_voxel = points.new_zeros( | |
| size=(max_voxels, ), dtype=torch.int) | |
| voxel_num = ext_module.hard_voxelize_forward( | |
| points, voxels, coors, num_points_per_voxel, voxel_size, | |
| coors_range, max_points, max_voxels, 3) | |
| # select the valid voxels | |
| voxels_out = voxels[:voxel_num] | |
| coors_out = coors[:voxel_num] | |
| num_points_per_voxel_out = num_points_per_voxel[:voxel_num] | |
| return voxels_out, coors_out, num_points_per_voxel_out | |
| voxelization = _Voxelization.apply | |
| class Voxelization(nn.Module): | |
| """Convert kitti points(N, >=3) to voxels. | |
| Please refer to `PVCNN <https://arxiv.org/abs/1907.03739>`_ for more | |
| details. | |
| Args: | |
| voxel_size (tuple or float): The size of voxel with the shape of [3]. | |
| point_cloud_range (tuple or float): The coordinate range of voxel with | |
| the shape of [6]. | |
| max_num_points (int): maximum points contained in a voxel. if | |
| max_points=-1, it means using dynamic_voxelize. | |
| max_voxels (int, optional): maximum voxels this function create. | |
| for second, 20000 is a good choice. Users should shuffle points | |
| before call this function because max_voxels may drop points. | |
| Default: 20000. | |
| """ | |
| def __init__(self, | |
| voxel_size, | |
| point_cloud_range, | |
| max_num_points, | |
| max_voxels=20000): | |
| super().__init__() | |
| self.voxel_size = voxel_size | |
| self.point_cloud_range = point_cloud_range | |
| self.max_num_points = max_num_points | |
| if isinstance(max_voxels, tuple): | |
| self.max_voxels = max_voxels | |
| else: | |
| self.max_voxels = _pair(max_voxels) | |
| point_cloud_range = torch.tensor( | |
| point_cloud_range, dtype=torch.float32) | |
| voxel_size = torch.tensor(voxel_size, dtype=torch.float32) | |
| grid_size = (point_cloud_range[3:] - | |
| point_cloud_range[:3]) / voxel_size | |
| grid_size = torch.round(grid_size).long() | |
| input_feat_shape = grid_size[:2] | |
| self.grid_size = grid_size | |
| # the origin shape is as [x-len, y-len, z-len] | |
| # [w, h, d] -> [d, h, w] | |
| self.pcd_shape = [*input_feat_shape, 1][::-1] | |
| def forward(self, input): | |
| if self.training: | |
| max_voxels = self.max_voxels[0] | |
| else: | |
| max_voxels = self.max_voxels[1] | |
| return voxelization(input, self.voxel_size, self.point_cloud_range, | |
| self.max_num_points, max_voxels) | |
| def __repr__(self): | |
| s = self.__class__.__name__ + '(' | |
| s += 'voxel_size=' + str(self.voxel_size) | |
| s += ', point_cloud_range=' + str(self.point_cloud_range) | |
| s += ', max_num_points=' + str(self.max_num_points) | |
| s += ', max_voxels=' + str(self.max_voxels) | |
| s += ')' | |
| return s | |