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import torch
import torch.nn as nn
from monoscene.DDR import Bottleneck3D
class ASPP(nn.Module):
"""
ASPP 3D
Adapt from https://github.com/cv-rits/LMSCNet/blob/main/LMSCNet/models/LMSCNet.py#L7
"""
def __init__(self, planes, dilations_conv_list):
super().__init__()
# ASPP Block
self.conv_list = dilations_conv_list
self.conv1 = nn.ModuleList(
[
nn.Conv3d(
planes, planes, kernel_size=3, padding=dil, dilation=dil, bias=False
)
for dil in dilations_conv_list
]
)
self.bn1 = nn.ModuleList(
[nn.BatchNorm3d(planes) for dil in dilations_conv_list]
)
self.conv2 = nn.ModuleList(
[
nn.Conv3d(
planes, planes, kernel_size=3, padding=dil, dilation=dil, bias=False
)
for dil in dilations_conv_list
]
)
self.bn2 = nn.ModuleList(
[nn.BatchNorm3d(planes) for dil in dilations_conv_list]
)
self.relu = nn.ReLU()
def forward(self, x_in):
y = self.bn2[0](self.conv2[0](self.relu(self.bn1[0](self.conv1[0](x_in)))))
for i in range(1, len(self.conv_list)):
y += self.bn2[i](self.conv2[i](self.relu(self.bn1[i](self.conv1[i](x_in)))))
x_in = self.relu(y + x_in) # modified
return x_in
class SegmentationHead(nn.Module):
"""
3D Segmentation heads to retrieve semantic segmentation at each scale.
Formed by Dim expansion, Conv3D, ASPP block, Conv3D.
Taken from https://github.com/cv-rits/LMSCNet/blob/main/LMSCNet/models/LMSCNet.py#L7
"""
def __init__(self, inplanes, planes, nbr_classes, dilations_conv_list):
super().__init__()
# First convolution
self.conv0 = nn.Conv3d(inplanes, planes, kernel_size=3, padding=1, stride=1)
# ASPP Block
self.conv_list = dilations_conv_list
self.conv1 = nn.ModuleList(
[
nn.Conv3d(
planes, planes, kernel_size=3, padding=dil, dilation=dil, bias=False
)
for dil in dilations_conv_list
]
)
self.bn1 = nn.ModuleList(
[nn.BatchNorm3d(planes) for dil in dilations_conv_list]
)
self.conv2 = nn.ModuleList(
[
nn.Conv3d(
planes, planes, kernel_size=3, padding=dil, dilation=dil, bias=False
)
for dil in dilations_conv_list
]
)
self.bn2 = nn.ModuleList(
[nn.BatchNorm3d(planes) for dil in dilations_conv_list]
)
self.relu = nn.ReLU()
self.conv_classes = nn.Conv3d(
planes, nbr_classes, kernel_size=3, padding=1, stride=1
)
def forward(self, x_in):
# Convolution to go from inplanes to planes features...
x_in = self.relu(self.conv0(x_in))
y = self.bn2[0](self.conv2[0](self.relu(self.bn1[0](self.conv1[0](x_in)))))
for i in range(1, len(self.conv_list)):
y += self.bn2[i](self.conv2[i](self.relu(self.bn1[i](self.conv1[i](x_in)))))
x_in = self.relu(y + x_in) # modified
x_in = self.conv_classes(x_in)
return x_in
class ProcessKitti(nn.Module):
def __init__(self, feature, norm_layer, bn_momentum, dilations=[1, 2, 3]):
super(Process, self).__init__()
self.main = nn.Sequential(
*[
Bottleneck3D(
feature,
feature // 4,
bn_momentum=bn_momentum,
norm_layer=norm_layer,
dilation=[i, i, i],
)
for i in dilations
]
)
def forward(self, x):
return self.main(x)
class Process(nn.Module):
def __init__(self, feature, norm_layer, bn_momentum, dilations=[1, 2, 3]):
super(Process, self).__init__()
self.main = nn.Sequential(
*[
Bottleneck3D(
feature,
feature // 4,
bn_momentum=bn_momentum,
norm_layer=norm_layer,
dilation=[i, i, i],
)
for i in dilations
]
)
def forward(self, x):
return self.main(x)
class Upsample(nn.Module):
def __init__(self, in_channels, out_channels, norm_layer, bn_momentum):
super(Upsample, self).__init__()
self.main = nn.Sequential(
nn.ConvTranspose3d(
in_channels,
out_channels,
kernel_size=3,
stride=2,
padding=1,
dilation=1,
output_padding=1,
),
norm_layer(out_channels, momentum=bn_momentum),
nn.ReLU(),
)
def forward(self, x):
return self.main(x)
class Downsample(nn.Module):
def __init__(self, feature, norm_layer, bn_momentum, expansion=8):
super(Downsample, self).__init__()
self.main = Bottleneck3D(
feature,
feature // 4,
bn_momentum=bn_momentum,
expansion=expansion,
stride=2,
downsample=nn.Sequential(
nn.AvgPool3d(kernel_size=2, stride=2),
nn.Conv3d(
feature,
int(feature * expansion / 4),
kernel_size=1,
stride=1,
bias=False,
),
norm_layer(int(feature * expansion / 4), momentum=bn_momentum),
),
norm_layer=norm_layer,
)
def forward(self, x):
return self.main(x)
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