learning3d 0.0.7__py3-none-any.whl → 0.2.0__py3-none-any.whl

{learning3d/models → models}/prnet.py

@@ -16,7 +16,7 @@ import torch.nn as nn
 import torch.nn.functional as F
 
 from .. ops import transform_functions as transform
-from .. utils import Transformer, Identity
+from .. utils import Transformer, Identity, knn, get_graph_feature
 
 from sklearn.metrics import r2_score
 
@@ -30,40 +30,6 @@ def pairwise_distance(src, tgt):
     distances = xx.transpose(2, 1).contiguous() + inner + yy
     return torch.sqrt(distances)
 
-
-def knn(x, k):
-    inner = -2 * torch.matmul(x.transpose(2, 1).contiguous(), x)
-    xx = torch.sum(x ** 2, dim=1, keepdim=True)
-    distance = -xx - inner - xx.transpose(2, 1).contiguous()
-
-    idx = distance.topk(k=k, dim=-1)[1]  # (batch_size, num_points, k)
-    return idx
-
-
-def get_graph_feature(x, k=20):
-    # x = x.squeeze()
-    x = x.view(*x.size()[:3])
-    idx = knn(x, k=k)  # (batch_size, num_points, k)
-    batch_size, num_points, _ = idx.size()
-
-    idx_base = torch.arange(0, batch_size, device=device).view(-1, 1, 1) * num_points
-
-    idx = idx + idx_base
-
-    idx = idx.view(-1)
-
-    _, num_dims, _ = x.size()
-
-    x = x.transpose(2, 1).contiguous()  # (batch_size, num_points, num_dims)  -> (batch_size*num_points, num_dims) #   batch_size * num_points * k + range(0, batch_size*num_points)
-    feature = x.view(batch_size * num_points, -1)[idx, :]
-    feature = feature.view(batch_size, num_points, k, num_dims)
-    x = x.view(batch_size, num_points, 1, num_dims).repeat(1, 1, k, 1)
-
-    feature = torch.cat((feature, x), dim=3).permute(0, 3, 1, 2)
-
-    return feature
-
-
 def cycle_consistency(rotation_ab, translation_ab, rotation_ba, translation_ba):
     batch_size = rotation_ab.size(0)
     identity = torch.eye(3, device=rotation_ab.device).unsqueeze(0).repeat(batch_size, 1, 1)
@@ -109,19 +75,19 @@ class DGCNN(nn.Module):
 
     def forward(self, x):
         batch_size, num_dims, num_points = x.size()
-        x = get_graph_feature(x)
+        x = get_graph_feature(x, device=device)
         x = F.leaky_relu(self.bn1(self.conv1(x)), negative_slope=0.2)
         x1 = x.max(dim=-1, keepdim=True)[0]
  
-        x = get_graph_feature(x1)
+        x = get_graph_feature(x1, device=device)
         x = F.leaky_relu(self.bn2(self.conv2(x)), negative_slope=0.2)
         x2 = x.max(dim=-1, keepdim=True)[0]
 
-        x = get_graph_feature(x2)
+        x = get_graph_feature(x2, device=device)
         x = F.leaky_relu(self.bn3(self.conv3(x)), negative_slope=0.2)
         x3 = x.max(dim=-1, keepdim=True)[0]
 
-        x = get_graph_feature(x3)
+        x = get_graph_feature(x3, device=device)
         x = F.leaky_relu(self.bn4(self.conv4(x)), negative_slope=0.2)
         x4 = x.max(dim=-1, keepdim=True)[0]
 

utils/__init__.py

@@ -0,0 +1,23 @@
+from .svd import SVDHead
+from .transformer import Transformer, Identity
+from .ppfnet_util import angle_difference, square_distance, index_points, farthest_point_sample, query_ball_point, sample_and_group, sample_and_group_multi
+from .pointconv_util import PointConvDensitySetAbstraction
+from .model_common_utils import (
+	knn,
+	pc_normalize,
+	square_distance,
+	index_points,
+	farthest_point_sample,
+	knn_point,
+	query_ball_point,
+	get_graph_feature
+)
+from .curvenet_util import (
+	LPFA,
+	CIC,
+)
+
+try:
+	from .lib import pointnet2_utils
+except:
+	print("Error raised in pointnet2 module in utils!\nEither don't use pointnet2_utils or retry it's setup.")

utils/curvenet_util.py

@@ -0,0 +1,540 @@
+"""
+@Author: Yue Wang
+@Contact: yuewangx@mit.edu
+@File: pointnet_util.py
+@Time: 2018/10/13 10:39 PM
+
+Modified by 
+@Author: Tiange Xiang
+@Contact: txia7609@uni.sydney.edu.au
+@Time: 2021/01/21 3:10 PM
+"""
+
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+from time import time
+import numpy as np
+from .model_common_utils import (
+    knn,
+    square_distance,
+    index_points,
+    farthest_point_sample,
+    query_ball_point,
+)
+
+def sample_and_group(npoint, radius, nsample, xyz, points, returnfps=False):
+    """
+    Input:
+        npoint:
+        radius:
+        nsample:
+        xyz: input points position data, [B, N, 3]
+        points: input points data, [B, N, D]
+    Return:
+        new_xyz: sampled points position data, [B, npoint, nsample, 3]
+        new_points: sampled points data, [B, npoint, nsample, 3+D]
+    """
+    new_xyz = index_points(xyz, farthest_point_sample(xyz, npoint, start_with_first_point=True))
+    torch.cuda.empty_cache()
+
+    idx = query_ball_point(radius, nsample, xyz, new_xyz, get_cnt=False)
+    torch.cuda.empty_cache()
+
+    new_points = index_points(points, idx)
+    torch.cuda.empty_cache()
+
+    if returnfps:
+        return new_xyz, new_points, idx
+    else:
+        return new_xyz, new_points
+
+def batched_index_select(input, dim, index):
+	views = [input.shape[0]] + \
+		[1 if i != dim else -1 for i in range(1, len(input.shape))]
+	expanse = list(input.shape)
+	expanse[0] = -1
+	expanse[dim] = -1
+	index = index.view(views).expand(expanse)
+	return torch.gather(input, dim, index)
+
+def gumbel_softmax(logits, dim, temperature=1):
+    """
+    ST-gumple-softmax w/o random gumbel samplings
+    input: [*, n_class]
+    return: flatten --> [*, n_class] an one-hot vector
+    """
+    y = F.softmax(logits / temperature, dim=dim)
+
+    shape = y.size()
+    _, ind = y.max(dim=-1)
+    y_hard = torch.zeros_like(y).view(-1, shape[-1])
+    y_hard.scatter_(1, ind.view(-1, 1), 1)
+    y_hard = y_hard.view(*shape)
+
+    y_hard = (y_hard - y).detach() + y
+    return y_hard
+
+class Walk(nn.Module):
+    '''
+    Walk in the cloud
+    '''
+    def __init__(self, in_channel, k, curve_num, curve_length):
+        super(Walk, self).__init__()
+        self.curve_num = curve_num
+        self.curve_length = curve_length
+        self.k = k
+
+        self.agent_mlp = nn.Sequential(
+            nn.Conv2d(in_channel * 2,
+                        1,
+                        kernel_size=1,
+                        bias=False), nn.BatchNorm2d(1))
+        self.momentum_mlp = nn.Sequential(
+            nn.Conv1d(in_channel * 2,
+                        2,
+                        kernel_size=1,
+                        bias=False), nn.BatchNorm1d(2))
+
+    def crossover_suppression(self, cur, neighbor, bn, n, k):
+        # cur: bs*n, 3
+        # neighbor: bs*n, 3, k
+        neighbor = neighbor.detach()
+        cur = cur.unsqueeze(-1).detach()
+        dot = torch.bmm(cur.transpose(1,2), neighbor) # bs*n, 1, k
+        norm1 = torch.norm(cur, dim=1, keepdim=True)
+        norm2 = torch.norm(neighbor, dim=1, keepdim=True)
+        divider = torch.clamp(norm1 * norm2, min=1e-8)
+        ans = torch.div(dot, divider).squeeze() # bs*n, k
+
+        # normalize to [0, 1]
+        ans = 1. + ans
+        ans = torch.clamp(ans, 0., 1.0)
+
+        return ans.detach()
+
+    def forward(self, xyz, x, adj, cur):
+        bn, c, tot_points = x.size()
+        device = x.device
+
+        # raw point coordinates
+        xyz = xyz.transpose(1,2).contiguous # bs, n, 3
+
+        # point features
+        x = x.transpose(1,2).contiguous() # bs, n, c
+
+        flatten_x = x.view(bn * tot_points, -1)
+        batch_offset = torch.arange(0, bn, device=device).detach() * tot_points
+
+        # indices of neighbors for the starting points
+        tmp_adj = (adj + batch_offset.view(-1,1,1)).view(adj.size(0)*adj.size(1),-1) #bs, n, k
+    
+        # batch flattened indices for teh starting points
+        flatten_cur = (cur + batch_offset.view(-1,1,1)).view(-1)
+
+        curves = []
+        flatten_curve_idxs = [flatten_cur.unsqueeze(1)]
+
+        # one step at a time
+        for step in range(self.curve_length):
+
+            if step == 0:
+                # get starting point features using flattend indices
+                starting_points =  flatten_x[flatten_cur, :].contiguous()
+                pre_feature = starting_points.view(bn, self.curve_num, -1, 1).transpose(1,2) # bs * n, c
+            else:
+                # dynamic momentum
+                cat_feature = torch.cat((cur_feature.squeeze(-1), pre_feature.squeeze(-1)),dim=1)
+                att_feature = F.softmax(self.momentum_mlp(cat_feature),dim=1).view(bn, 1, self.curve_num, 2) # bs, 1, n, 2
+                cat_feature = torch.cat((cur_feature, pre_feature),dim=-1) # bs, c, n, 2
+                
+                # update curve descriptor
+                pre_feature = torch.sum(cat_feature * att_feature, dim=-1, keepdim=True) # bs, c, n
+                pre_feature_cos =  pre_feature.transpose(1,2).contiguous().view(bn * self.curve_num, -1)
+
+            pick_idx = tmp_adj[flatten_cur] # bs*n, k
+            
+            # get the neighbors of current points
+            pick_values = flatten_x[pick_idx.view(-1),:]
+
+            # reshape to fit crossover suppresion below
+            pick_values_cos = pick_values.view(bn * self.curve_num, self.k, c)
+            pick_values = pick_values_cos.view(bn, self.curve_num, self.k, c)
+            pick_values_cos = pick_values_cos.transpose(1,2).contiguous()
+            
+            pick_values = pick_values.permute(0,3,1,2) # bs, c, n, k
+
+            pre_feature_expand = pre_feature.expand_as(pick_values)
+            
+            # concat current point features with curve descriptors
+            pre_feature_expand = torch.cat((pick_values, pre_feature_expand),dim=1)
+            
+            # which node to pick next?
+            pre_feature_expand = self.agent_mlp(pre_feature_expand) # bs, 1, n, k
+
+            if step !=0:
+                # cross over supression
+                d = self.crossover_suppression(cur_feature_cos - pre_feature_cos,
+                                               pick_values_cos - cur_feature_cos.unsqueeze(-1), 
+                                               bn, self.curve_num, self.k)
+                d = d.view(bn, self.curve_num, self.k).unsqueeze(1) # bs, 1, n, k
+                pre_feature_expand = torch.mul(pre_feature_expand, d)
+
+            pre_feature_expand = gumbel_softmax(pre_feature_expand, -1) #bs, 1, n, k
+
+            cur_feature = torch.sum(pick_values * pre_feature_expand, dim=-1, keepdim=True) # bs, c, n, 1
+
+            cur_feature_cos = cur_feature.transpose(1,2).contiguous().view(bn * self.curve_num, c)
+
+            cur = torch.argmax(pre_feature_expand, dim=-1).view(-1, 1) # bs * n, 1
+
+            flatten_cur = batched_index_select(pick_idx, 1, cur).squeeze() # bs * n
+
+            # collect curve progress
+            curves.append(cur_feature)
+            flatten_curve_idxs.append(flatten_cur.unsqueeze(1))
+
+        return torch.cat(curves,dim=-1), torch.cat(flatten_curve_idxs, dim=1)
+
+
+class Attention_block(nn.Module):
+    '''
+    Used in attention U-Net.
+    '''
+    def __init__(self,F_g,F_l,F_int):
+        super(Attention_block,self).__init__()
+        self.W_g = nn.Sequential(
+            nn.Conv1d(F_g, F_int, kernel_size=1,stride=1,padding=0,bias=True),
+            nn.BatchNorm1d(F_int)
+            )
+
+        self.W_x = nn.Sequential(
+            nn.Conv1d(F_l, F_int, kernel_size=1,stride=1,padding=0,bias=True),
+            nn.BatchNorm1d(F_int)
+        )
+
+        self.psi = nn.Sequential(
+            nn.Conv1d(F_int, 1, kernel_size=1,stride=1,padding=0,bias=True),
+            nn.BatchNorm1d(1),
+            nn.Sigmoid()
+        )
+
+    def forward(self,g,x):
+        g1 = self.W_g(g)
+        x1 = self.W_x(x)
+        psi = F.leaky_relu(g1+x1, negative_slope=0.2)
+        psi = self.psi(psi)
+
+        return psi, 1. - psi
+
+
+class LPFA(nn.Module):
+    def __init__(self, in_channel, out_channel, k, mlp_num=2, initial=False):
+        super(LPFA, self).__init__()
+        self.k = k
+        self.initial = initial
+
+        if not initial:
+            self.xyz2feature = nn.Sequential(
+                        nn.Conv2d(9, in_channel, kernel_size=1, bias=False),
+                        nn.BatchNorm2d(in_channel))
+
+        self.mlp = []
+        for _ in range(mlp_num):
+            self.mlp.append(nn.Sequential(nn.Conv2d(in_channel, out_channel, 1, bias=False),
+                                 nn.BatchNorm2d(out_channel),
+                                 nn.LeakyReLU(0.2)))
+            in_channel = out_channel
+        self.mlp = nn.Sequential(*self.mlp)        
+
+    def forward(self, x, xyz, idx=None):
+        x = self.group_feature(x, xyz, idx)
+        x = self.mlp(x)
+
+        if self.initial:
+            x = x.max(dim=-1, keepdim=False)[0]
+        else:
+            x = x.mean(dim=-1, keepdim=False)
+
+        return x
+
+    def group_feature(self, x, xyz, idx):
+        batch_size, num_dims, num_points = x.size()
+        device = x.device
+
+        if idx is None:
+            idx = knn(xyz, k=self.k, add_one_to_k=True)[:,:,:self.k]  # (batch_size, num_points, k)
+
+        idx_base = torch.arange(0, batch_size, device=device).view(-1, 1, 1) * num_points
+        idx = idx + idx_base
+        idx = idx.view(-1)
+
+        xyz = xyz.transpose(2, 1).contiguous() # bs, n, 3
+        point_feature = xyz.view(batch_size * num_points, -1)[idx, :]
+        point_feature = point_feature.view(batch_size, num_points, self.k, -1)  # bs, n, k, 3
+        points = xyz.view(batch_size, num_points, 1, 3).expand(-1, -1, self.k, -1)  # bs, n, k, 3
+
+        point_feature = torch.cat((points, point_feature, point_feature - points),
+                                dim=3).permute(0, 3, 1, 2).contiguous()
+
+        if self.initial:
+            return point_feature
+
+        x = x.transpose(2, 1).contiguous() # bs, n, c
+        feature = x.view(batch_size * num_points, -1)[idx, :]
+        feature = feature.view(batch_size, num_points, self.k, num_dims)  #bs, n, k, c
+        x = x.view(batch_size, num_points, 1, num_dims)
+        feature = feature - x
+
+        feature = feature.permute(0, 3, 1, 2).contiguous()
+        point_feature = self.xyz2feature(point_feature)  #bs, c, n, k
+        feature = F.leaky_relu(feature + point_feature, 0.2)
+        return feature #bs, c, n, k
+
+
+class PointNetFeaturePropagation(nn.Module):
+    def __init__(self, in_channel, mlp, att=None):
+        super(PointNetFeaturePropagation, self).__init__()
+        self.mlp_convs = nn.ModuleList()
+        self.mlp_bns = nn.ModuleList()
+        last_channel = in_channel
+        self.att = None
+        if att is not None:
+            self.att = Attention_block(F_g=att[0],F_l=att[1],F_int=att[2])
+        
+        for out_channel in mlp:
+            self.mlp_convs.append(nn.Conv1d(last_channel, out_channel, 1))
+            self.mlp_bns.append(nn.BatchNorm1d(out_channel))
+            last_channel = out_channel
+
+    def forward(self, xyz1, xyz2, points1, points2):
+        """
+        Input:
+            xyz1: input points position data, [B, C, N]
+            xyz2: sampled input points position data, [B, C, S], skipped xyz
+            points1: input points data, [B, D, N]
+            points2: input points data, [B, D, S], skipped features
+        Return:
+            new_points: upsampled points data, [B, D', N]
+        """
+        xyz1 = xyz1.permute(0, 2, 1)
+        xyz2 = xyz2.permute(0, 2, 1)
+
+        points2 = points2.permute(0, 2, 1)
+        B, N, C = xyz1.shape
+        _, S, _ = xyz2.shape
+
+        if S == 1:
+            interpolated_points = points2.repeat(1, N, 1)
+        else:
+            dists = square_distance(xyz1, xyz2)
+            dists, idx = dists.sort(dim=-1)
+            dists, idx = dists[:, :, :3], idx[:, :, :3]  # [B, N, 3]
+
+            dist_recip = 1.0 / (dists + 1e-8)
+            norm = torch.sum(dist_recip, dim=2, keepdim=True)
+            weight = dist_recip / norm
+            interpolated_points = torch.sum(index_points(points2, idx) * weight.view(B, N, 3, 1), dim=2)
+
+        # skip attention
+        if self.att is not None:
+           psix, psig = self.att(interpolated_points.permute(0, 2, 1), points1)
+           points1 = points1 * psix
+           
+        if points1 is not None:
+            points1 = points1.permute(0, 2, 1)
+            new_points = torch.cat([points1, interpolated_points], dim=-1)
+        else:
+            new_points = interpolated_points
+
+        new_points = new_points.permute(0, 2, 1)
+
+        for i, conv in enumerate(self.mlp_convs):
+            bn = self.mlp_bns[i]
+            new_points = F.leaky_relu(bn(conv(new_points)), 0.2)
+
+        return new_points
+
+
+class CIC(nn.Module):
+    def __init__(self, npoint, radius, k, in_channels, output_channels, bottleneck_ratio=2, mlp_num=2, curve_config=None):
+        super(CIC, self).__init__()
+        self.in_channels = in_channels
+        self.output_channels = output_channels
+        self.bottleneck_ratio = bottleneck_ratio
+        self.radius = radius
+        self.k = k
+        self.npoint = npoint
+
+        planes = in_channels // bottleneck_ratio
+
+        self.use_curve = curve_config is not None
+        if self.use_curve:
+            self.curveaggregation = CurveAggregation(planes)
+            self.curvegrouping = CurveGrouping(planes, k, curve_config[0], curve_config[1])
+
+        self.conv1 = nn.Sequential(
+            nn.Conv1d(in_channels,
+                      planes,
+                      kernel_size=1,
+                      bias=False),
+            nn.BatchNorm1d(in_channels // bottleneck_ratio),
+            nn.LeakyReLU(negative_slope=0.2, inplace=True))
+
+        self.conv2 = nn.Sequential(
+            nn.Conv1d(planes, output_channels, kernel_size=1, bias=False),
+            nn.BatchNorm1d(output_channels))
+
+        if in_channels != output_channels:
+            self.shortcut = nn.Sequential(
+                nn.Conv1d(in_channels,
+                          output_channels,
+                          kernel_size=1,
+                          bias=False),
+                nn.BatchNorm1d(output_channels))
+
+        self.relu = nn.LeakyReLU(negative_slope=0.2, inplace=True)
+
+        self.maxpool = MaskedMaxPool(npoint, radius, k)
+
+        self.lpfa = LPFA(planes, planes, k, mlp_num=mlp_num, initial=False)
+
+    def forward(self, xyz, x):
+ 
+        # max pool
+        if xyz.size(-1) != self.npoint:
+            xyz, x = self.maxpool(
+                xyz.transpose(1, 2).contiguous(), x)
+            xyz = xyz.transpose(1, 2)
+
+        shortcut = x
+        x = self.conv1(x)  # bs, c', n
+
+        idx = knn(xyz, self.k, add_one_to_k=True)
+
+        if self.use_curve:
+            # curve grouping
+            curves, flatten_curve_idxs = self.curvegrouping(x, xyz, idx[:,:,1:]) # avoid self-loop
+
+            # curve aggregation
+            x = self.curveaggregation(x, curves)
+        else:
+            flatten_curve_idxs = None
+
+        x = self.lpfa(x, xyz, idx=idx[:,:,:self.k]) #bs, c', n, k
+
+        x = self.conv2(x)  # bs, c, n
+
+        if self.in_channels != self.output_channels:
+            shortcut = self.shortcut(shortcut)
+
+        x = self.relu(x + shortcut)
+        return xyz, x, flatten_curve_idxs
+
+
+class CurveAggregation(nn.Module):
+    def __init__(self, in_channel):
+        super(CurveAggregation, self).__init__()
+        self.in_channel = in_channel
+        mid_feature = in_channel // 2
+        self.conva = nn.Conv1d(in_channel,
+                               mid_feature,
+                               kernel_size=1,
+                               bias=False)
+        self.convb = nn.Conv1d(in_channel,
+                               mid_feature,
+                               kernel_size=1,
+                               bias=False)
+        self.convc = nn.Conv1d(in_channel,
+                               mid_feature,
+                               kernel_size=1,
+                               bias=False)
+        self.convn = nn.Conv1d(mid_feature,
+                               mid_feature,
+                               kernel_size=1,
+                               bias=False)
+        self.convl = nn.Conv1d(mid_feature,
+                               mid_feature,
+                               kernel_size=1,
+                               bias=False)
+        self.convd = nn.Sequential(
+            nn.Conv1d(mid_feature * 2,
+                      in_channel,
+                      kernel_size=1,
+                      bias=False),
+            nn.BatchNorm1d(in_channel))
+        self.line_conv_att = nn.Conv2d(in_channel,
+                                       1,
+                                       kernel_size=1,
+                                       bias=False)
+
+    def forward(self, x, curves):
+        curves_att = self.line_conv_att(curves)  # bs, 1, c_n, c_l
+
+        curver_inter = torch.sum(curves * F.softmax(curves_att, dim=-1), dim=-1)  #bs, c, c_n
+        curves_intra = torch.sum(curves * F.softmax(curves_att, dim=-2), dim=-2)  #bs, c, c_l
+
+        curver_inter = self.conva(curver_inter) # bs, mid, n
+        curves_intra = self.convb(curves_intra) # bs, mid ,n
+
+        x_logits = self.convc(x).transpose(1, 2).contiguous()
+        x_inter = F.softmax(torch.bmm(x_logits, curver_inter), dim=-1) # bs, n, c_n
+        x_intra = F.softmax(torch.bmm(x_logits, curves_intra), dim=-1) # bs, l, c_l
+        
+
+        curver_inter = self.convn(curver_inter).transpose(1, 2).contiguous()
+        curves_intra = self.convl(curves_intra).transpose(1, 2).contiguous()
+
+        x_inter = torch.bmm(x_inter, curver_inter)
+        x_intra = torch.bmm(x_intra, curves_intra)
+
+        curve_features = torch.cat((x_inter, x_intra),dim=-1).transpose(1, 2).contiguous()
+        x = x + self.convd(curve_features)
+
+        return F.leaky_relu(x, negative_slope=0.2)
+
+
+class CurveGrouping(nn.Module):
+    def __init__(self, in_channel, k, curve_num, curve_length):
+        super(CurveGrouping, self).__init__()
+        self.curve_num = curve_num
+        self.curve_length = curve_length
+        self.in_channel = in_channel
+        self.k = k
+
+        self.att = nn.Conv1d(in_channel, 1, kernel_size=1, bias=False)
+
+        self.walk = Walk(in_channel, k, curve_num, curve_length)
+
+    def forward(self, x, xyz, idx):
+        # starting point selection in self attention style
+        x_att = torch.sigmoid(self.att(x))
+        x = x * x_att
+
+        _, start_index = torch.topk(x_att,
+                                    self.curve_num,
+                                    dim=2,
+                                    sorted=False)
+        start_index = start_index.squeeze(1).unsqueeze(2)
+
+        curves, flatten_curve_idxs = self.walk(xyz, x, idx, start_index)  #bs, c, c_n, c_l
+        
+        return curves, flatten_curve_idxs
+
+
+class MaskedMaxPool(nn.Module):
+    def __init__(self, npoint, radius, k):
+        super(MaskedMaxPool, self).__init__()
+        self.npoint = npoint
+        self.radius = radius
+        self.k = k
+
+    def forward(self, xyz, features):
+        sub_xyz, neighborhood_features = sample_and_group(self.npoint, self.radius, self.k, xyz, features.transpose(1,2))
+
+        neighborhood_features = neighborhood_features.permute(0, 3, 1, 2).contiguous()
+        sub_features = F.max_pool2d(
+            neighborhood_features, kernel_size=[1, neighborhood_features.shape[3]]
+        )  # bs, c, n, 1
+        sub_features = torch.squeeze(sub_features, -1)  # bs, c, n
+        return sub_xyz, sub_features