ocnn 2.2.1__py3-none-any.whl → 2.2.3__py3-none-any.whl

ocnn/nn/octree_interp.py

@@ -1,196 +1,196 @@
-# --------------------------------------------------------
-# Octree-based Sparse Convolutional Neural Networks
-# Copyright (c) 2022 Peng-Shuai Wang <wangps@hotmail.com>
-# Licensed under The MIT License [see LICENSE for details]
-# Written by Peng-Shuai Wang
-# --------------------------------------------------------
-
-import torch
-import torch.sparse
-from typing import List, Optional
-
-import ocnn
-from ocnn.octree import Octree
-
-
-def octree_nearest_pts(data: torch.Tensor, octree: Octree, depth: int,
-                       pts: torch.Tensor, nempty: bool = False,
-                       bound_check: bool = False):
-  ''' The nearest-neighbor interpolatation with input points.
-
-  Args:
-    data (torch.Tensor): The input data.
-    octree (Octree): The octree to interpolate.
-    depth (int): The depth of the data.
-    pts (torch.Tensor): The coordinates of the points with shape :obj:`(N, 4)`,
-        i.e. :obj:`N x (x, y, z, batch)`.
-    nempty (bool): If true, the :attr:`data` only contains features of non-empty 
-        octree nodes
-    bound_check (bool): If true, check whether the point is in :obj:`[0, 2^depth)`.
-
-  .. note::
-    The :attr:`pts` MUST be scaled into :obj:`[0, 2^depth)`.
-  '''
-
-  nnum = octree.nnum_nempty[depth] if nempty else octree.nnum[depth]
-  assert data.shape[0] == nnum, 'The shape of input data is wrong.'
-
-  idx = octree.search_xyzb(pts, depth, nempty)
-  valid = idx > -1   # valid indices
-  if bound_check:
-    bound = torch.logical_and(pts[:, :3] >= 0, pts[:, :3] < 2**depth).all(1)
-    valid = torch.logical_and(valid, bound)
-
-  size = (pts.shape[0], data.shape[1])
-  out = torch.zeros(size, device=data.device, dtype=data.dtype)
-  out[valid] = data.index_select(0, idx[valid])
-  return out
-
-
-def octree_linear_pts(data: torch.Tensor, octree: Octree, depth: int,
-                      pts: torch.Tensor, nempty: bool = False,
-                      bound_check: bool = False):
-  ''' Linear interpolatation with input points.
-
-  Refer to :func:`octree_nearest_pts` for the meaning of the arguments.
-  '''
-
-  nnum = octree.nnum_nempty[depth] if nempty else octree.nnum[depth]
-  assert data.shape[0] == nnum, 'The shape of input data is wrong.'
-
-  device = data.device
-  grid = torch.tensor(
-      [[0, 0, 0], [0, 0, 1], [0, 1, 0], [0, 1, 1],
-       [1, 0, 0], [1, 0, 1], [1, 1, 0], [1, 1, 1]], device=device)
-
-  # 1. Neighborhood searching
-  xyzf = pts[:, :3] - 0.5   # the value is defined on the center of each voxel
-  xyzi = xyzf.floor()       # the integer part  (N, 3)
-  frac = xyzf - xyzi        # the fraction part (N, 3)
-
-  xyzn = (xyzi.unsqueeze(1) + grid).view(-1, 3)
-  batch = pts[:, 3].unsqueeze(1).repeat(1, 8).view(-1, 1)
-  idx = octree.search_xyzb(torch.cat([xyzn, batch], dim=1), depth, nempty)
-  valid = idx > -1  # valid indices
-  if bound_check:
-    bound = torch.logical_and(xyzn >= 0, xyzn < 2**depth).all(1)
-    valid = torch.logical_and(valid, bound)
-  idx = idx[valid]
-
-  # 2. Build the sparse matrix
-  npt = pts.shape[0]
-  ids = torch.arange(npt, device=idx.device)
-  ids = ids.unsqueeze(1).repeat(1, 8).view(-1)
-  ids = ids[valid]
-  indices = torch.stack([ids, idx], dim=0).long()
-
-  frac = (1.0 - grid) - frac.unsqueeze(dim=1)  # (8, 3) - (N, 1, 3) -> (N, 8, 3)
-  weight = frac.prod(dim=2).abs().view(-1)     # (8*N,)
-  weight = weight[valid]
-
-  h = data.shape[0]
-  mat = torch.sparse_coo_tensor(indices, weight, [npt, h], device=device)
-
-  # 3. Interpolatation
-  output = torch.sparse.mm(mat, data)
-  ones = torch.ones(h, 1, dtype=data.dtype, device=device)
-  norm = torch.sparse.mm(mat, ones)
-  output = torch.div(output, norm + 1e-12)
-  return output
-
-
-class OctreeInterp(torch.nn.Module):
-  r''' Interpolates the points with an octree feature.
-
-  Refer to :func:`octree_nearest_pts` for a description of arguments.
-  '''
-
-  def __init__(self, method: str = 'linear', nempty: bool = False,
-               bound_check: bool = False, rescale_pts: bool = True):
-    super().__init__()
-    self.method = method
-    self.nempty = nempty
-    self.bound_check = bound_check
-    self.rescale_pts = rescale_pts
-    self.func = octree_linear_pts if method == 'linear' else octree_nearest_pts
-
-  def forward(self, data: torch.Tensor, octree: Octree, depth: int,
-              pts: torch.Tensor):
-    r''''''
-
-    # rescale points from [-1, 1] to [0, 2^depth]
-    if self.rescale_pts:
-      scale = 2 ** (depth - 1)
-      pts[:, :3] = (pts[:, :3] + 1.0) * scale
-
-    return self.func(data, octree, depth, pts, self.nempty, self.bound_check)
-
-  def extra_repr(self) -> str:
-    r''' Sets the extra representation of the module.
-    '''
-
-    return ('method={}, nempty={}, bound_check={}, rescale_pts={}').format(
-            self.method, self.nempty, self.bound_check, self.rescale_pts)  # noqa
-
-
-def octree_nearest_upsample(data: torch.Tensor, octree: Octree, depth: int,
-                            nempty: bool = False):
-  r''' Upsamples the octree node features from :attr:`depth` to :attr:`(depth+1)`
-  with the nearest-neighbor interpolation.
-
-  Args:
-    data (torch.Tensor): The input data.
-    octree (Octree): The octree to interpolate.
-    depth (int): The depth of the data.
-    nempty (bool): If true, the :attr:`data` only contains features of non-empty 
-        octree nodes.
-  '''
-
-  nnum = octree.nnum_nempty[depth] if nempty else octree.nnum[depth]
-  assert data.shape[0] == nnum, 'The shape of input data is wrong.'
-
-  out = data
-  if not nempty:
-    out = ocnn.nn.octree_depad(out, octree, depth)
-  out = out.unsqueeze(1).repeat(1, 8, 1).flatten(end_dim=1)
-  if nempty:
-    out = ocnn.nn.octree_depad(out, octree, depth+1)  # !!! depth+1
-  return out
-
-
-class OctreeUpsample(torch.nn.Module):
-  r'''  Upsamples the octree node features from :attr:`depth` to
-  :attr:`(target_depth)`.
-
-  Refer to :class:`octree_nearest_pts` for details.
-  '''
-
-  def __init__(self, method: str = 'linear', nempty: bool = False):
-    super().__init__()
-    self.method = method
-    self.nempty = nempty
-    self.func = octree_linear_pts if method == 'linear' else octree_nearest_pts
-
-  def forward(self, data: torch.Tensor, octree: Octree, depth: int,
-              target_depth: Optional[int] = None):
-    r''''''
-
-    if target_depth is None:
-      target_depth = depth + 1
-    if target_depth == depth:
-      return data   # return, do nothing
-    assert target_depth >= depth, 'target_depth must be larger than depth'
-
-    if target_depth == depth + 1 and self.method == 'nearest':
-      return octree_nearest_upsample(data, octree, depth, self.nempty)
-
-    xyzb = octree.xyzb(target_depth, self.nempty)
-    pts = torch.stack(xyzb, dim=1).float()
-    pts[:, :3] = (pts[:, :3] + 0.5) * (2**(depth - target_depth))  # !!! rescale
-    return self.func(data, octree, depth, pts, self.nempty)
-
-  def extra_repr(self) -> str:
-    r''' Sets the extra representation of the module.
-    '''
-
-    return ('method={}, nempty={}').format(self.method, self.nempty)
+# --------------------------------------------------------
+# Octree-based Sparse Convolutional Neural Networks
+# Copyright (c) 2022 Peng-Shuai Wang <wangps@hotmail.com>
+# Licensed under The MIT License [see LICENSE for details]
+# Written by Peng-Shuai Wang
+# --------------------------------------------------------
+
+import torch
+import torch.sparse
+from typing import List, Optional
+
+import ocnn
+from ocnn.octree import Octree
+
+
+def octree_nearest_pts(data: torch.Tensor, octree: Octree, depth: int,
+                       pts: torch.Tensor, nempty: bool = False,
+                       bound_check: bool = False):
+  ''' The nearest-neighbor interpolatation with input points.
+
+  Args:
+    data (torch.Tensor): The input data.
+    octree (Octree): The octree to interpolate.
+    depth (int): The depth of the data.
+    pts (torch.Tensor): The coordinates of the points with shape :obj:`(N, 4)`,
+        i.e. :obj:`N x (x, y, z, batch)`.
+    nempty (bool): If true, the :attr:`data` only contains features of non-empty 
+        octree nodes
+    bound_check (bool): If true, check whether the point is in :obj:`[0, 2^depth)`.
+
+  .. note::
+    The :attr:`pts` MUST be scaled into :obj:`[0, 2^depth)`.
+  '''
+
+  nnum = octree.nnum_nempty[depth] if nempty else octree.nnum[depth]
+  assert data.shape[0] == nnum, 'The shape of input data is wrong.'
+
+  idx = octree.search_xyzb(pts, depth, nempty)
+  valid = idx > -1   # valid indices
+  if bound_check:
+    bound = torch.logical_and(pts[:, :3] >= 0, pts[:, :3] < 2**depth).all(1)
+    valid = torch.logical_and(valid, bound)
+
+  size = (pts.shape[0], data.shape[1])
+  out = torch.zeros(size, device=data.device, dtype=data.dtype)
+  out[valid] = data.index_select(0, idx[valid])
+  return out
+
+
+def octree_linear_pts(data: torch.Tensor, octree: Octree, depth: int,
+                      pts: torch.Tensor, nempty: bool = False,
+                      bound_check: bool = False):
+  ''' Linear interpolatation with input points.
+
+  Refer to :func:`octree_nearest_pts` for the meaning of the arguments.
+  '''
+
+  nnum = octree.nnum_nempty[depth] if nempty else octree.nnum[depth]
+  assert data.shape[0] == nnum, 'The shape of input data is wrong.'
+
+  device = data.device
+  grid = torch.tensor(
+      [[0, 0, 0], [0, 0, 1], [0, 1, 0], [0, 1, 1],
+       [1, 0, 0], [1, 0, 1], [1, 1, 0], [1, 1, 1]], device=device)
+
+  # 1. Neighborhood searching
+  xyzf = pts[:, :3] - 0.5   # the value is defined on the center of each voxel
+  xyzi = xyzf.floor()       # the integer part  (N, 3)
+  frac = xyzf - xyzi        # the fraction part (N, 3)
+
+  xyzn = (xyzi.unsqueeze(1) + grid).view(-1, 3)
+  batch = pts[:, 3].unsqueeze(1).repeat(1, 8).view(-1, 1)
+  idx = octree.search_xyzb(torch.cat([xyzn, batch], dim=1), depth, nempty)
+  valid = idx > -1  # valid indices
+  if bound_check:
+    bound = torch.logical_and(xyzn >= 0, xyzn < 2**depth).all(1)
+    valid = torch.logical_and(valid, bound)
+  idx = idx[valid]
+
+  # 2. Build the sparse matrix
+  npt = pts.shape[0]
+  ids = torch.arange(npt, device=idx.device)
+  ids = ids.unsqueeze(1).repeat(1, 8).view(-1)
+  ids = ids[valid]
+  indices = torch.stack([ids, idx], dim=0).long()
+
+  frac = (1.0 - grid) - frac.unsqueeze(dim=1)  # (8, 3) - (N, 1, 3) -> (N, 8, 3)
+  weight = frac.prod(dim=2).abs().view(-1)     # (8*N,)
+  weight = weight[valid]
+
+  h = data.shape[0]
+  mat = torch.sparse_coo_tensor(indices, weight, [npt, h], device=device)
+
+  # 3. Interpolatation
+  output = torch.sparse.mm(mat, data)
+  ones = torch.ones(h, 1, dtype=data.dtype, device=device)
+  norm = torch.sparse.mm(mat, ones)
+  output = torch.div(output, norm + 1e-12)
+  return output
+
+
+class OctreeInterp(torch.nn.Module):
+  r''' Interpolates the points with an octree feature.
+
+  Refer to :func:`octree_nearest_pts` for a description of arguments.
+  '''
+
+  def __init__(self, method: str = 'linear', nempty: bool = False,
+               bound_check: bool = False, rescale_pts: bool = True):
+    super().__init__()
+    self.method = method
+    self.nempty = nempty
+    self.bound_check = bound_check
+    self.rescale_pts = rescale_pts
+    self.func = octree_linear_pts if method == 'linear' else octree_nearest_pts
+
+  def forward(self, data: torch.Tensor, octree: Octree, depth: int,
+              pts: torch.Tensor):
+    r''''''
+
+    # rescale points from [-1, 1] to [0, 2^depth]
+    if self.rescale_pts:
+      scale = 2 ** (depth - 1)
+      pts[:, :3] = (pts[:, :3] + 1.0) * scale
+
+    return self.func(data, octree, depth, pts, self.nempty, self.bound_check)
+
+  def extra_repr(self) -> str:
+    r''' Sets the extra representation of the module.
+    '''
+
+    return ('method={}, nempty={}, bound_check={}, rescale_pts={}').format(
+            self.method, self.nempty, self.bound_check, self.rescale_pts)  # noqa
+
+
+def octree_nearest_upsample(data: torch.Tensor, octree: Octree, depth: int,
+                            nempty: bool = False):
+  r''' Upsamples the octree node features from :attr:`depth` to :attr:`(depth+1)`
+  with the nearest-neighbor interpolation.
+
+  Args:
+    data (torch.Tensor): The input data.
+    octree (Octree): The octree to interpolate.
+    depth (int): The depth of the data.
+    nempty (bool): If true, the :attr:`data` only contains features of non-empty 
+        octree nodes.
+  '''
+
+  nnum = octree.nnum_nempty[depth] if nempty else octree.nnum[depth]
+  assert data.shape[0] == nnum, 'The shape of input data is wrong.'
+
+  out = data
+  if not nempty:
+    out = ocnn.nn.octree_depad(out, octree, depth)
+  out = out.unsqueeze(1).repeat(1, 8, 1).flatten(end_dim=1)
+  if nempty:
+    out = ocnn.nn.octree_depad(out, octree, depth+1)  # !!! depth+1
+  return out
+
+
+class OctreeUpsample(torch.nn.Module):
+  r'''  Upsamples the octree node features from :attr:`depth` to
+  :attr:`(target_depth)`.
+
+  Refer to :class:`octree_nearest_pts` for details.
+  '''
+
+  def __init__(self, method: str = 'linear', nempty: bool = False):
+    super().__init__()
+    self.method = method
+    self.nempty = nempty
+    self.func = octree_linear_pts if method == 'linear' else octree_nearest_pts
+
+  def forward(self, data: torch.Tensor, octree: Octree, depth: int,
+              target_depth: Optional[int] = None):
+    r''''''
+
+    if target_depth is None:
+      target_depth = depth + 1
+    if target_depth == depth:
+      return data   # return, do nothing
+    assert target_depth >= depth, 'target_depth must be larger than depth'
+
+    if target_depth == depth + 1 and self.method == 'nearest':
+      return octree_nearest_upsample(data, octree, depth, self.nempty)
+
+    xyzb = octree.xyzb(target_depth, self.nempty)
+    pts = torch.stack(xyzb, dim=1).float()
+    pts[:, :3] = (pts[:, :3] + 0.5) * (2**(depth - target_depth))  # !!! rescale
+    return self.func(data, octree, depth, pts, self.nempty)
+
+  def extra_repr(self) -> str:
+    r''' Sets the extra representation of the module.
+    '''
+
+    return ('method={}, nempty={}').format(self.method, self.nempty)

ocnn/nn/octree_norm.py

@@ -1,86 +1,86 @@
-# --------------------------------------------------------
-# Octree-based Sparse Convolutional Neural Networks
-# Copyright (c) 2022 Peng-Shuai Wang <wangps@hotmail.com>
-# Licensed under The MIT License [see LICENSE for details]
-# Written by Peng-Shuai Wang
-# --------------------------------------------------------
-
-import torch
-import torch.nn
-
-from ocnn.octree import Octree
-from ocnn.utils import scatter_add
-
-
-OctreeBatchNorm = torch.nn.BatchNorm1d
-
-
-class OctreeGroupNorm(torch.nn.Module):
-  r''' An group normalization layer for the octree.
-  '''
-
-  def __init__(self, in_channels: int, group: int, nempty: bool = False):
-    super().__init__()
-    self.eps = 1e-5
-    self.nempty = nempty
-    self.group = group
-    self.in_channels = in_channels
-
-    assert in_channels % group == 0
-    self.channels_per_group = in_channels // group
-
-    self.weights = torch.nn.Parameter(torch.Tensor(1, in_channels))
-    self.bias = torch.nn.Parameter(torch.Tensor(1, in_channels))
-    self.reset_parameters()
-
-  def reset_parameters(self):
-    torch.nn.init.ones_(self.weights)
-    torch.nn.init.zeros_(self.bias)
-
-  def forward(self, data: torch.Tensor, octree: Octree, depth: int):
-    r''''''
-
-    batch_size = octree.batch_size
-    batch_id = octree.batch_id(depth, self.nempty)
-    ones = data.new_ones([data.shape[0], 1])
-    count = scatter_add(ones, batch_id, dim=0, dim_size=batch_size)
-    count = count * self.channels_per_group  # element number in each group
-    inv_count = 1.0 / (count + self.eps)  # there might be 0 element sometimes
-
-    mean = scatter_add(data, batch_id, dim=0, dim_size=batch_size) * inv_count
-    mean = self._adjust_for_group(mean)
-    out = data - mean.index_select(0, batch_id)
-
-    var = scatter_add(out**2, batch_id, dim=0, dim_size=batch_size) * inv_count
-    var = self._adjust_for_group(var)
-    inv_std = 1.0 / (var + self.eps).sqrt()
-    out = out * inv_std.index_select(0, batch_id)
-
-    out = out * self.weights + self.bias
-    return out
-
-  def _adjust_for_group(self, tensor: torch.Tensor):
-    r''' Adjust the tensor for the group.
-    '''
-
-    if self.channels_per_group > 1:
-      tensor = (tensor.reshape(-1, self.group, self.channels_per_group)
-                      .sum(-1, keepdim=True)
-                      .repeat(1, 1, self.channels_per_group)
-                      .reshape(-1, self.in_channels))
-    return tensor
-
-  def extra_repr(self) -> str:
-    return ('in_channels={}, group={}, nempty={}').format(
-            self.in_channels, self.group, self.nempty)  # noqa
-
-
-class OctreeInstanceNorm(OctreeGroupNorm):
-  r''' An instance normalization layer for the octree.
-  '''
-
-  def __init__(self, in_channels: int, nempty: bool = False):
-    super().__init__(in_channels=in_channels, group=in_channels, nempty=nempty)
-
-  def extra_repr(self) -> str:
-    return ('in_channels={}, nempty={}').format(self.in_channels, self.nempty)
+# --------------------------------------------------------
+# Octree-based Sparse Convolutional Neural Networks
+# Copyright (c) 2022 Peng-Shuai Wang <wangps@hotmail.com>
+# Licensed under The MIT License [see LICENSE for details]
+# Written by Peng-Shuai Wang
+# --------------------------------------------------------
+
+import torch
+import torch.nn
+
+from ocnn.octree import Octree
+from ocnn.utils import scatter_add
+
+
+OctreeBatchNorm = torch.nn.BatchNorm1d
+
+
+class OctreeGroupNorm(torch.nn.Module):
+  r''' An group normalization layer for the octree.
+  '''
+
+  def __init__(self, in_channels: int, group: int, nempty: bool = False):
+    super().__init__()
+    self.eps = 1e-5
+    self.nempty = nempty
+    self.group = group
+    self.in_channels = in_channels
+
+    assert in_channels % group == 0
+    self.channels_per_group = in_channels // group
+
+    self.weights = torch.nn.Parameter(torch.Tensor(1, in_channels))
+    self.bias = torch.nn.Parameter(torch.Tensor(1, in_channels))
+    self.reset_parameters()
+
+  def reset_parameters(self):
+    torch.nn.init.ones_(self.weights)
+    torch.nn.init.zeros_(self.bias)
+
+  def forward(self, data: torch.Tensor, octree: Octree, depth: int):
+    r''''''
+
+    batch_size = octree.batch_size
+    batch_id = octree.batch_id(depth, self.nempty)
+    ones = data.new_ones([data.shape[0], 1])
+    count = scatter_add(ones, batch_id, dim=0, dim_size=batch_size)
+    count = count * self.channels_per_group  # element number in each group
+    inv_count = 1.0 / (count + self.eps)  # there might be 0 element sometimes
+
+    mean = scatter_add(data, batch_id, dim=0, dim_size=batch_size) * inv_count
+    mean = self._adjust_for_group(mean)
+    out = data - mean.index_select(0, batch_id)
+
+    var = scatter_add(out**2, batch_id, dim=0, dim_size=batch_size) * inv_count
+    var = self._adjust_for_group(var)
+    inv_std = 1.0 / (var + self.eps).sqrt()
+    out = out * inv_std.index_select(0, batch_id)
+
+    out = out * self.weights + self.bias
+    return out
+
+  def _adjust_for_group(self, tensor: torch.Tensor):
+    r''' Adjust the tensor for the group.
+    '''
+
+    if self.channels_per_group > 1:
+      tensor = (tensor.reshape(-1, self.group, self.channels_per_group)
+                      .sum(-1, keepdim=True)
+                      .repeat(1, 1, self.channels_per_group)
+                      .reshape(-1, self.in_channels))
+    return tensor
+
+  def extra_repr(self) -> str:
+    return ('in_channels={}, group={}, nempty={}').format(
+            self.in_channels, self.group, self.nempty)  # noqa
+
+
+class OctreeInstanceNorm(OctreeGroupNorm):
+  r''' An instance normalization layer for the octree.
+  '''
+
+  def __init__(self, in_channels: int, nempty: bool = False):
+    super().__init__(in_channels=in_channels, group=in_channels, nempty=nempty)
+
+  def extra_repr(self) -> str:
+    return ('in_channels={}, nempty={}').format(self.in_channels, self.nempty)

ocnn/nn/octree_pad.py

@@ -1,39 +1,39 @@
-# --------------------------------------------------------
-# Octree-based Sparse Convolutional Neural Networks
-# Copyright (c) 2022 Peng-Shuai Wang <wangps@hotmail.com>
-# Licensed under The MIT License [see LICENSE for details]
-# Written by Peng-Shuai Wang
-# --------------------------------------------------------
-
-import torch
-
-from ..octree import Octree
-
-
-def octree_pad(data: torch.Tensor, octree: Octree, depth: int, val: float = 0.0):
-  r''' Pads :attr:`val` to make the number of elements of :attr:`data` equal to
-  the octree node number.
-
-  Args:
-    data (torch.Tensor): The input tensor with its number of elements equal to the
-        non-empty octree node number.
-    octree (Octree): The corresponding octree.
-    depth (int): The depth of current octree.
-    val (float): The padding value. (Default: :obj:`0.0`)
-  '''
-
-  mask = octree.nempty_mask(depth)
-  size = (octree.nnum[depth], data.shape[1])  # (N, C)
-  out = torch.full(size, val, dtype=data.dtype, device=data.device)
-  out[mask] = data
-  return out
-
-
-def octree_depad(data: torch.Tensor, octree: Octree, depth: int):
-  r''' Reverse operation of :func:`octree_depad`.
-
-  Please refer to :func:`octree_depad` for the meaning of the arguments.
-  '''
-
-  mask = octree.nempty_mask(depth)
-  return data[mask]
+# --------------------------------------------------------
+# Octree-based Sparse Convolutional Neural Networks
+# Copyright (c) 2022 Peng-Shuai Wang <wangps@hotmail.com>
+# Licensed under The MIT License [see LICENSE for details]
+# Written by Peng-Shuai Wang
+# --------------------------------------------------------
+
+import torch
+
+from ocnn.octree import Octree
+
+
+def octree_pad(data: torch.Tensor, octree: Octree, depth: int, val: float = 0.0):
+  r''' Pads :attr:`val` to make the number of elements of :attr:`data` equal to
+  the octree node number.
+
+  Args:
+    data (torch.Tensor): The input tensor with its number of elements equal to the
+        non-empty octree node number.
+    octree (Octree): The corresponding octree.
+    depth (int): The depth of current octree.
+    val (float): The padding value. (Default: :obj:`0.0`)
+  '''
+
+  mask = octree.nempty_mask(depth)
+  size = (octree.nnum[depth], data.shape[1])  # (N, C)
+  out = torch.full(size, val, dtype=data.dtype, device=data.device)
+  out[mask] = data
+  return out
+
+
+def octree_depad(data: torch.Tensor, octree: Octree, depth: int):
+  r''' Reverse operation of :func:`octree_depad`.
+
+  Please refer to :func:`octree_depad` for the meaning of the arguments.
+  '''
+
+  mask = octree.nempty_mask(depth)
+  return data[mask]