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| import torch | |
| import torch.nn as nn | |
| from .. import SparseTensor | |
| from .. import DEBUG | |
| class SparseConv3d(nn.Module): | |
| def __init__(self, in_channels, out_channels, kernel_size, stride=1, dilation=1, padding=None, bias=True, indice_key=None): | |
| super(SparseConv3d, self).__init__() | |
| if 'spconv' not in globals(): | |
| import spconv.pytorch as spconv | |
| if stride == 1 and (padding is None): | |
| self.conv = spconv.SubMConv3d(in_channels, out_channels, kernel_size, dilation=dilation, bias=bias, indice_key=indice_key) | |
| else: | |
| self.conv = spconv.SparseConv3d(in_channels, out_channels, kernel_size, stride=stride, dilation=dilation, padding=padding, bias=bias, indice_key=indice_key) | |
| self.stride = tuple(stride) if isinstance(stride, (list, tuple)) else (stride, stride, stride) | |
| self.padding = padding | |
| def forward(self, x: SparseTensor) -> SparseTensor: | |
| spatial_changed = any(s != 1 for s in self.stride) or (self.padding is not None) | |
| new_data = self.conv(x.data) | |
| new_shape = [x.shape[0], self.conv.out_channels] | |
| new_layout = None if spatial_changed else x.layout | |
| if spatial_changed and (x.shape[0] != 1): | |
| # spconv was non-1 stride will break the contiguous of the output tensor, sort by the coords | |
| fwd = new_data.indices[:, 0].argsort() | |
| bwd = torch.zeros_like(fwd).scatter_(0, fwd, torch.arange(fwd.shape[0], device=fwd.device)) | |
| sorted_feats = new_data.features[fwd] | |
| sorted_coords = new_data.indices[fwd] | |
| unsorted_data = new_data | |
| new_data = spconv.SparseConvTensor(sorted_feats, sorted_coords, unsorted_data.spatial_shape, unsorted_data.batch_size) # type: ignore | |
| out = SparseTensor( | |
| new_data, shape=torch.Size(new_shape), layout=new_layout, | |
| scale=tuple([s * stride for s, stride in zip(x._scale, self.stride)]), | |
| spatial_cache=x._spatial_cache, | |
| ) | |
| if spatial_changed and (x.shape[0] != 1): | |
| out.register_spatial_cache(f'conv_{self.stride}_unsorted_data', unsorted_data) | |
| out.register_spatial_cache(f'conv_{self.stride}_sort_bwd', bwd) | |
| return out | |
| class SparseInverseConv3d(nn.Module): | |
| def __init__(self, in_channels, out_channels, kernel_size, stride=1, dilation=1, bias=True, indice_key=None): | |
| super(SparseInverseConv3d, self).__init__() | |
| if 'spconv' not in globals(): | |
| import spconv.pytorch as spconv | |
| self.conv = spconv.SparseInverseConv3d(in_channels, out_channels, kernel_size, bias=bias, indice_key=indice_key) | |
| self.stride = tuple(stride) if isinstance(stride, (list, tuple)) else (stride, stride, stride) | |
| def forward(self, x: SparseTensor) -> SparseTensor: | |
| spatial_changed = any(s != 1 for s in self.stride) | |
| if spatial_changed: | |
| # recover the original spconv order | |
| data = x.get_spatial_cache(f'conv_{self.stride}_unsorted_data') | |
| bwd = x.get_spatial_cache(f'conv_{self.stride}_sort_bwd') | |
| data = data.replace_feature(x.feats[bwd]) | |
| if DEBUG: | |
| assert torch.equal(data.indices, x.coords[bwd]), 'Recover the original order failed' | |
| else: | |
| data = x.data | |
| new_data = self.conv(data) | |
| new_shape = [x.shape[0], self.conv.out_channels] | |
| new_layout = None if spatial_changed else x.layout | |
| out = SparseTensor( | |
| new_data, shape=torch.Size(new_shape), layout=new_layout, | |
| scale=tuple([s // stride for s, stride in zip(x._scale, self.stride)]), | |
| spatial_cache=x._spatial_cache, | |
| ) | |
| return out | |