ocnn 2.2.8__py3-none-any.whl → 2.3.0__py3-none-any.whl

ocnn/nn/octree_conv.py

@@ -1,429 +1,430 @@
-# --------------------------------------------------------
-# 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 torch.autograd import Function
-from typing import List
-
-from ocnn.octree import Octree
-from ocnn.utils import scatter_add, xavier_uniform_, resize_with_last_val, list2str
-from .octree2col import octree2col, col2octree
-from .octree_pad import octree_pad, octree_depad
-
-
-class OctreeConvBase:
-
-  def __init__(self, in_channels: int, out_channels: int,
-               kernel_size: List[int] = [3], stride: int = 1,
-               nempty: bool = False, max_buffer: int = int(2e8)):
-    super().__init__()
-    self.in_channels = in_channels
-    self.out_channels = out_channels
-    self.kernel_size = resize_with_last_val(kernel_size)
-    self.kernel = list2str(self.kernel_size)
-    self.stride = stride
-    self.nempty = nempty
-    self.max_buffer = max_buffer  # about 200M
-
-    self.kdim = self.kernel_size[0] * self.kernel_size[1] * self.kernel_size[2]
-    self.in_conv = in_channels if self.is_conv_layer() else out_channels
-    self.out_conv = out_channels if self.is_conv_layer() else in_channels
-    self.weights_shape = (self.kdim, self.in_conv, self.out_conv)
-
-  def is_conv_layer(self):
-    r''' Returns :obj:`True` to indicate this is a convolution layer.
-    '''
-
-    raise NotImplementedError
-
-  def setup(self, octree: Octree, depth: int):
-    r''' Setup the shapes of each tensor.
-    This function MUST be called before :obj:`forward_gemm`, :obj:`backward_gemm`
-    and :obj:`weight_gemm`.
-    '''
-
-    # The depth of tensors:
-    # The in_depth and out_depth are the octree depth of the input and output
-    # data; neigh_depth is the octree depth of the neighborhood information, as
-    # well as `col` data, neigh_depth is always the same as the depth of larger
-    # data when doing octree2col or col2octree.
-    self.in_depth = depth
-    self.out_depth = depth
-    self.neigh_depth = depth
-    if self.stride == 2:
-      if self.is_conv_layer():
-        self.out_depth = depth - 1
-      else:
-        self.out_depth = depth + 1
-        self.neigh_depth = depth + 1
-
-    # The height of tensors
-    if self.nempty:
-      self.in_h = octree.nnum_nempty[self.in_depth]
-      self.out_h = octree.nnum_nempty[self.out_depth]
-    else:
-      self.in_h = octree.nnum[self.in_depth]
-      self.out_h = octree.nnum[self.out_depth]
-      if self.stride == 2:
-        if self.is_conv_layer():
-          self.out_h = octree.nnum_nempty[self.out_depth]
-        else:
-          self.in_h = octree.nnum_nempty[self.in_depth]
-    self.in_shape = (self.in_h, self.in_channels)
-    self.out_shape = (self.out_h, self.out_channels)
-
-    # The neighborhood indices
-    self.neigh = octree.get_neigh(
-        self.neigh_depth, self.kernel, self.stride, self.nempty)
-
-    # The heigh and number of the temporary buffer
-    self.buffer_n = 1
-    self.buffer_h = self.neigh.shape[0]
-    ideal_size = self.buffer_h * self.kdim * self.in_conv
-    if ideal_size > self.max_buffer:
-      kc = self.kdim * self.in_conv            # make `max_buffer` be divided
-      max_buffer = self.max_buffer // kc * kc  # by `kc` with no remainder
-      self.buffer_n = (ideal_size + max_buffer - 1) // max_buffer
-      self.buffer_h = (self.buffer_h + self.buffer_n - 1) // self.buffer_n
-    self.buffer_shape = (self.buffer_h, self.kdim, self.in_conv)
-
-  def check_and_init(self, data: torch.Tensor):
-    r''' Checks the input data and initializes the shape of output data.
-    '''
-
-    # Check the shape of input data
-    check = tuple(data.shape) == self.in_shape
-    assert check, 'The shape of input data is wrong.'
-
-    # Init the output data
-    out = data.new_zeros(self.out_shape)
-    return out
-
-  def forward_gemm(self, out: torch.Tensor, data: torch.Tensor,
-                   weights: torch.Tensor):
-    r''' Peforms the forward pass of octree-based convolution.
-    '''
-
-    # Type check
-    if data.dtype != out.dtype:
-      data = data.to(out.dtype)
-    if weights.dtype != out.dtype:
-      weights = weights.to(out.dtype)
-
-    # Initialize the buffer
-    buffer = data.new_empty(self.buffer_shape)
-
-    # Loop over each sub-matrix
-    for i in range(self.buffer_n):
-      start = i * self.buffer_h
-      end = (i + 1) * self.buffer_h
-
-      # The boundary case in the last iteration
-      if end > self.neigh.shape[0]:
-        dis = end - self.neigh.shape[0]
-        end = self.neigh.shape[0]
-        buffer, _ = buffer.split([self.buffer_h-dis, dis])
-
-      # Perform octree2col
-      neigh_i = self.neigh[start:end]
-      valid = neigh_i >= 0
-      buffer.fill_(0)
-      buffer[valid] = data[neigh_i[valid]]
-
-      # The sub-matrix gemm
-      out[start:end] = torch.mm(buffer.flatten(1, 2), weights.flatten(0, 1))
-
-    return out
-
-  def backward_gemm(self, out: torch.Tensor, grad: torch.Tensor,
-                    weights: torch.Tensor):
-    r''' Performs the backward pass of octree-based convolution.
-    '''
-
-    # Type check
-    if grad.dtype != out.dtype:
-      grad = grad.to(out.dtype)
-    if weights.dtype != out.dtype:
-      weights = weights.to(out.dtype)
-
-    # Loop over each sub-matrix
-    for i in range(self.buffer_n):
-      start = i * self.buffer_h
-      end = (i + 1) * self.buffer_h
-
-      # The boundary case in the last iteration
-      if end > self.neigh.shape[0]:
-        end = self.neigh.shape[0]
-
-      # The sub-matrix gemm
-      buffer = torch.mm(grad[start:end], weights.flatten(0, 1).t())
-      buffer = buffer.view(-1, self.buffer_shape[1], self.buffer_shape[2])
-      buffer = buffer.to(out.dtype)  # for pytorch.amp
-
-      # Performs col2octree
-      neigh_i = self.neigh[start:end]
-      valid = neigh_i >= 0
-      out = scatter_add(buffer[valid], neigh_i[valid], dim=0, out=out)
-
-    return out
-
-  def weight_gemm(
-          self, out: torch.Tensor, data: torch.Tensor, grad: torch.Tensor):
-    r''' Computes the gradient of the weight matrix.
-    '''
-
-    # Type check
-    if data.dtype != out.dtype:
-      data = data.to(out.dtype)
-    if grad.dtype != out.dtype:
-      grad = grad.to(out.dtype)
-
-    # Record the shape of out
-    out_shape = out.shape
-    out = out.flatten(0, 1)
-
-    # Initialize the buffer
-    buffer = data.new_empty(self.buffer_shape)
-
-    # Loop over each sub-matrix
-    for i in range(self.buffer_n):
-      start = i * self.buffer_h
-      end = (i + 1) * self.buffer_h
-
-      # The boundary case in the last iteration
-      if end > self.neigh.shape[0]:
-        d = end - self.neigh.shape[0]
-        end = self.neigh.shape[0]
-        buffer, _ = buffer.split([self.buffer_h-d, d])
-
-      # Perform octree2col
-      neigh_i = self.neigh[start:end]
-      valid = neigh_i >= 0
-      buffer.fill_(0)
-      buffer[valid] = data[neigh_i[valid]]
-
-      # Accumulate the gradient via gemm
-      out.addmm_(buffer.flatten(1, 2).t(), grad[start:end])
-
-    return out.view(out_shape)
-
-
-class _OctreeConv(OctreeConvBase):
-  r''' Instantiates _OctreeConvBase by overriding `is_conv_layer`
-  '''
-
-  def is_conv_layer(self): return True
-
-
-class _OctreeDeconv(OctreeConvBase):
-  r''' Instantiates _OctreeConvBase by overriding `is_conv_layer`
-  '''
-
-  def is_conv_layer(self): return False
-
-
-class OctreeConvFunction(Function):
-  r''' Wrap the octree convolution for auto-diff.
-  '''
-
-  @staticmethod
-  def forward(ctx, data: torch.Tensor, weights: torch.Tensor, octree: Octree,
-              depth: int, in_channels: int, out_channels: int,
-              kernel_size: List[int] = [3, 3, 3], stride: int = 1,
-              nempty: bool = False, max_buffer: int = int(2e8)):
-    octree_conv = _OctreeConv(
-        in_channels, out_channels, kernel_size, stride, nempty, max_buffer)
-    octree_conv.setup(octree, depth)
-    out = octree_conv.check_and_init(data)
-    out = octree_conv.forward_gemm(out, data, weights)
-
-    ctx.save_for_backward(data, weights)
-    ctx.octree_conv = octree_conv
-    return out
-
-  @staticmethod
-  def backward(ctx, grad):
-    data, weights = ctx.saved_tensors
-    octree_conv = ctx.octree_conv
-
-    grad_out = None
-    if ctx.needs_input_grad[0]:
-      grad_out = torch.zeros_like(data)
-      grad_out = octree_conv.backward_gemm(grad_out, grad, weights)
-
-    grad_w = None
-    if ctx.needs_input_grad[1]:
-      grad_w = torch.zeros_like(weights)
-      grad_w = octree_conv.weight_gemm(grad_w, data, grad)
-
-    return (grad_out, grad_w) + (None,) * 8
-
-
-class OctreeDeconvFunction(Function):
-  r''' Wrap the octree deconvolution for auto-diff.
-  '''
-
-  @staticmethod
-  def forward(ctx, data: torch.Tensor, weights: torch.Tensor, octree: Octree,
-              depth: int, in_channels: int, out_channels: int,
-              kernel_size: List[int] = [3, 3, 3], stride: int = 1,
-              nempty: bool = False, max_buffer: int = int(2e8)):
-    octree_deconv = _OctreeDeconv(
-        in_channels, out_channels, kernel_size, stride, nempty, max_buffer)
-    octree_deconv.setup(octree, depth)
-    out = octree_deconv.check_and_init(data)
-    out = octree_deconv.backward_gemm(out, data, weights)
-
-    ctx.save_for_backward(data, weights)
-    ctx.octree_deconv = octree_deconv
-    return out
-
-  @staticmethod
-  def backward(ctx, grad):
-    data, weights = ctx.saved_tensors
-    octree_deconv = ctx.octree_deconv
-
-    grad_out = None
-    if ctx.needs_input_grad[0]:
-      grad_out = torch.zeros_like(data)
-      grad_out = octree_deconv.forward_gemm(grad_out, grad, weights)
-
-    grad_w = None
-    if ctx.needs_input_grad[1]:
-      grad_w = torch.zeros_like(weights)
-      grad_w = octree_deconv.weight_gemm(grad_w, grad, data)
-
-    return (grad_out, grad_w) + (None,) * 8
-
-
-# alias
-octree_conv = OctreeConvFunction.apply
-octree_deconv = OctreeDeconvFunction.apply
-
-
-class OctreeConv(OctreeConvBase, torch.nn.Module):
-  r''' Performs octree convolution.
-
-  Args:
-    in_channels (int): Number of input channels.
-    out_channels (int): Number of output channels.
-    kernel_size (List(int)): The kernel shape, choose from :obj:`[3]`, :obj:`[2]`,
-        :obj:`[3,3,3]`, :obj:`[3,1,1]`, :obj:`[1,3,1]`, :obj:`[1,1,3]`,
-        :obj:`[2,2,2]`, :obj:`[3,3,1]`, :obj:`[1,3,3]`, and :obj:`[3,1,3]`.
-    stride (int): The stride of the convolution (:obj:`1` or :obj:`2`).
-    nempty (bool): If True, only performs the convolution on non-empty
-        octree nodes.
-    direct_method (bool): If True, directly performs the convolution via using
-        gemm and octree2col/col2octree. The octree2col/col2octree needs to
-        construct a large matrix, which may consume a lot of memory. If False,
-        performs the convolution in a sub-matrix manner, which can save the
-        requied runtime memory.
-    use_bias (bool): If True, add a bias term to the convolution.
-    max_buffer (int): The maximum number of elements in the buffer, used when
-        :attr:`direct_method` is False.
-
-  .. note::
-    Each non-empty octree node has exactly 8 children nodes, among which some
-    children nodes are non-empty and some are empty. If :attr:`nempty` is true,
-    the convolution is performed on non-empty octree nodes only, which is exactly
-    the same as SparseConvNet and MinkowsiNet; if :attr:`nempty` is false, the
-    convolution is performed on all octree nodes, which is essential for shape
-    reconstruction tasks and can also be used in classification and segmentation
-    (with slightly better performance and larger memory cost).
-  '''
-
-  def __init__(self, in_channels: int, out_channels: int,
-               kernel_size: List[int] = [3], stride: int = 1,
-               nempty: bool = False, direct_method: bool = False,
-               use_bias: bool = False, max_buffer: int = int(2e8)):
-    super().__init__(
-        in_channels, out_channels, kernel_size, stride, nempty, max_buffer)
-
-    self.direct_method = direct_method
-    self.use_bias = use_bias
-    self.weights = torch.nn.Parameter(torch.Tensor(*self.weights_shape))
-    if self.use_bias:
-      self.bias = torch.nn.Parameter(torch.Tensor(out_channels))
-    self.reset_parameters()
-
-  def reset_parameters(self):
-    xavier_uniform_(self.weights)
-    if self.use_bias:
-      torch.nn.init.zeros_(self.bias)
-
-  def is_conv_layer(self): return True
-
-  def forward(self, data: torch.Tensor, octree: Octree, depth: int):
-    r''' Defines the octree convolution.
-
-    Args:
-      data (torch.Tensor): The input data.
-      octree (Octree): The corresponding octree.
-      depth (int): The depth of current octree.
-    '''
-
-    if self.direct_method:
-      col = octree2col(
-          data, octree, depth, self.kernel, self.stride, self.nempty)
-      out = torch.mm(col.flatten(1), self.weights.flatten(0, 1))
-    else:
-      out = octree_conv(
-          data, self.weights, octree, depth, self.in_channels,
-          self.out_channels, self.kernel_size, self.stride, self.nempty,
-          self.max_buffer)
-
-    if self.use_bias:
-      out += self.bias
-
-    if self.stride == 2 and not self.nempty:
-      out = octree_pad(out, octree, depth-1)
-    return out
-
-  def extra_repr(self) -> str:
-    r''' Sets the extra representation of the module.
-    '''
-
-    return ('in_channels={}, out_channels={}, kernel_size={}, stride={}, '
-            'nempty={}, bias={}').format(self.in_channels, self.out_channels,
-             self.kernel_size, self.stride, self.nempty, self.use_bias)  # noqa
-
-
-class OctreeDeconv(OctreeConv):
-  r''' Performs octree deconvolution.
-
-  Please refer to :class:`OctreeConv` for the meaning of the arguments.
-  '''
-
-  def is_conv_layer(self): return False
-
-  def forward(self, data: torch.Tensor, octree: Octree, depth: int):
-    r''' Defines the octree deconvolution.
-
-    Please refer to :meth:`OctreeConv.forward` for the meaning of the arguments.
-    '''
-
-    depth_col = depth
-    if self.stride == 2:
-      depth_col = depth + 1
-      if not self.nempty:
-        data = octree_depad(data, octree, depth)
-
-    if self.direct_method:
-      col = torch.mm(data, self.weights.flatten(0, 1).t())
-      col = col.view(col.shape[0], self.kdim, -1)
-      out = col2octree(
-          col, octree, depth_col, self.kernel, self.stride, self.nempty)
-    else:
-      out = octree_deconv(
-          data, self.weights, octree, depth, self.in_channels,
-          self.out_channels, self.kernel_size, self.stride, self.nempty,
-          self.max_buffer)
-
-    if self.use_bias:
-      out += self.bias
-    return out
+# --------------------------------------------------------
+# 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 torch.autograd import Function
+from typing import List
+
+from ocnn.octree import Octree
+from ocnn.utils import scatter_add, xavier_uniform_, resize_with_last_val, list2str
+from .octree2col import octree2col, col2octree
+from .octree_pad import octree_pad, octree_depad
+
+
+class OctreeConvBase:
+
+  def __init__(self, in_channels: int, out_channels: int,
+               kernel_size: List[int] = [3], stride: int = 1,
+               nempty: bool = False, max_buffer: int = int(2e8)):
+    super().__init__()
+    self.in_channels = in_channels
+    self.out_channels = out_channels
+    self.kernel_size = resize_with_last_val(kernel_size)
+    self.kernel = list2str(self.kernel_size)
+    self.stride = stride
+    self.nempty = nempty
+    self.max_buffer = max_buffer  # about 200M
+
+    self.kdim = self.kernel_size[0] * self.kernel_size[1] * self.kernel_size[2]
+    self.in_conv = in_channels if self.is_conv_layer() else out_channels
+    self.out_conv = out_channels if self.is_conv_layer() else in_channels
+    self.weights_shape = (self.kdim, self.in_conv, self.out_conv)
+
+  def is_conv_layer(self):
+    r''' Returns :obj:`True` to indicate this is a convolution layer.
+    '''
+
+    raise NotImplementedError
+
+  def setup(self, octree: Octree, depth: int):
+    r''' Setup the shapes of each tensor.
+    This function MUST be called before :obj:`forward_gemm`, :obj:`backward_gemm`
+    and :obj:`weight_gemm`.
+    '''
+
+    # The depth of tensors:
+    # The in_depth and out_depth are the octree depth of the input and output
+    # data; neigh_depth is the octree depth of the neighborhood information, as
+    # well as `col` data, neigh_depth is always the same as the depth of larger
+    # data when doing octree2col or col2octree.
+    self.in_depth = depth
+    self.out_depth = depth
+    self.neigh_depth = depth
+    if self.stride == 2:
+      if self.is_conv_layer():
+        self.out_depth = depth - 1
+      else:
+        self.out_depth = depth + 1
+        self.neigh_depth = depth + 1
+
+    # The height of tensors
+    if self.nempty:
+      self.in_h = octree.nnum_nempty[self.in_depth]
+      self.out_h = octree.nnum_nempty[self.out_depth]
+    else:
+      self.in_h = octree.nnum[self.in_depth]
+      self.out_h = octree.nnum[self.out_depth]
+      if self.stride == 2:
+        if self.is_conv_layer():
+          self.out_h = octree.nnum_nempty[self.out_depth]
+        else:
+          self.in_h = octree.nnum_nempty[self.in_depth]
+    self.in_shape = (self.in_h, self.in_channels)
+    self.out_shape = (self.out_h, self.out_channels)
+
+    # The neighborhood indices
+    self.neigh = octree.get_neigh(
+        self.neigh_depth, self.kernel, self.stride, self.nempty)
+
+    # The heigh and number of the temporary buffer
+    self.buffer_n = 1
+    self.buffer_h = self.neigh.shape[0]
+    ideal_size = self.buffer_h * self.kdim * self.in_conv
+    if ideal_size > self.max_buffer:
+      kc = self.kdim * self.in_conv            # make `max_buffer` be divided
+      max_buffer = self.max_buffer // kc * kc  # by `kc` with no remainder
+      self.buffer_n = (ideal_size + max_buffer - 1) // max_buffer
+      self.buffer_h = (self.buffer_h + self.buffer_n - 1) // self.buffer_n
+    self.buffer_shape = (self.buffer_h, self.kdim, self.in_conv)
+
+  def check_and_init(self, data: torch.Tensor):
+    r''' Checks the input data and initializes the shape of output data.
+    '''
+
+    # Check the shape of input data
+    check = tuple(data.shape) == self.in_shape
+    assert check, ('The shape of input data is wrong: ' +
+                   'expected {}, got {}.'.format(self.in_shape, data.shape))
+
+    # Init the output data
+    out = data.new_zeros(self.out_shape)
+    return out
+
+  def forward_gemm(self, out: torch.Tensor, data: torch.Tensor,
+                   weights: torch.Tensor):
+    r''' Peforms the forward pass of octree-based convolution.
+    '''
+
+    # Type check
+    if data.dtype != out.dtype:
+      data = data.to(out.dtype)
+    if weights.dtype != out.dtype:
+      weights = weights.to(out.dtype)
+
+    # Initialize the buffer
+    buffer = data.new_empty(self.buffer_shape)
+
+    # Loop over each sub-matrix
+    for i in range(self.buffer_n):
+      start = i * self.buffer_h
+      end = (i + 1) * self.buffer_h
+
+      # The boundary case in the last iteration
+      if end > self.neigh.shape[0]:
+        dis = end - self.neigh.shape[0]
+        end = self.neigh.shape[0]
+        buffer, _ = buffer.split([self.buffer_h-dis, dis])
+
+      # Perform octree2col
+      neigh_i = self.neigh[start:end]
+      valid = neigh_i >= 0
+      buffer.fill_(0)
+      buffer[valid] = data[neigh_i[valid]]
+
+      # The sub-matrix gemm
+      out[start:end] = torch.mm(buffer.flatten(1, 2), weights.flatten(0, 1))
+
+    return out
+
+  def backward_gemm(self, out: torch.Tensor, grad: torch.Tensor,
+                    weights: torch.Tensor):
+    r''' Performs the backward pass of octree-based convolution.
+    '''
+
+    # Type check
+    if grad.dtype != out.dtype:
+      grad = grad.to(out.dtype)
+    if weights.dtype != out.dtype:
+      weights = weights.to(out.dtype)
+
+    # Loop over each sub-matrix
+    for i in range(self.buffer_n):
+      start = i * self.buffer_h
+      end = (i + 1) * self.buffer_h
+
+      # The boundary case in the last iteration
+      if end > self.neigh.shape[0]:
+        end = self.neigh.shape[0]
+
+      # The sub-matrix gemm
+      buffer = torch.mm(grad[start:end], weights.flatten(0, 1).t())
+      buffer = buffer.view(-1, self.buffer_shape[1], self.buffer_shape[2])
+      buffer = buffer.to(out.dtype)  # for pytorch.amp
+
+      # Performs col2octree
+      neigh_i = self.neigh[start:end]
+      valid = neigh_i >= 0
+      out = scatter_add(buffer[valid], neigh_i[valid], dim=0, out=out)
+
+    return out
+
+  def weight_gemm(
+          self, out: torch.Tensor, data: torch.Tensor, grad: torch.Tensor):
+    r''' Computes the gradient of the weight matrix.
+    '''
+
+    # Type check
+    if data.dtype != out.dtype:
+      data = data.to(out.dtype)
+    if grad.dtype != out.dtype:
+      grad = grad.to(out.dtype)
+
+    # Record the shape of out
+    out_shape = out.shape
+    out = out.flatten(0, 1)
+
+    # Initialize the buffer
+    buffer = data.new_empty(self.buffer_shape)
+
+    # Loop over each sub-matrix
+    for i in range(self.buffer_n):
+      start = i * self.buffer_h
+      end = (i + 1) * self.buffer_h
+
+      # The boundary case in the last iteration
+      if end > self.neigh.shape[0]:
+        d = end - self.neigh.shape[0]
+        end = self.neigh.shape[0]
+        buffer, _ = buffer.split([self.buffer_h-d, d])
+
+      # Perform octree2col
+      neigh_i = self.neigh[start:end]
+      valid = neigh_i >= 0
+      buffer.fill_(0)
+      buffer[valid] = data[neigh_i[valid]]
+
+      # Accumulate the gradient via gemm
+      out.addmm_(buffer.flatten(1, 2).t(), grad[start:end])
+
+    return out.view(out_shape)
+
+
+class _OctreeConv(OctreeConvBase):
+  r''' Instantiates _OctreeConvBase by overriding `is_conv_layer`
+  '''
+
+  def is_conv_layer(self): return True
+
+
+class _OctreeDeconv(OctreeConvBase):
+  r''' Instantiates _OctreeConvBase by overriding `is_conv_layer`
+  '''
+
+  def is_conv_layer(self): return False
+
+
+class OctreeConvFunction(Function):
+  r''' Wrap the octree convolution for auto-diff.
+  '''
+
+  @staticmethod
+  def forward(ctx, data: torch.Tensor, weights: torch.Tensor, octree: Octree,
+              depth: int, in_channels: int, out_channels: int,
+              kernel_size: List[int] = [3, 3, 3], stride: int = 1,
+              nempty: bool = False, max_buffer: int = int(2e8)):
+    octree_conv = _OctreeConv(
+        in_channels, out_channels, kernel_size, stride, nempty, max_buffer)
+    octree_conv.setup(octree, depth)
+    out = octree_conv.check_and_init(data)
+    out = octree_conv.forward_gemm(out, data, weights)
+
+    ctx.save_for_backward(data, weights)
+    ctx.octree_conv = octree_conv
+    return out
+
+  @staticmethod
+  def backward(ctx, grad):
+    data, weights = ctx.saved_tensors
+    octree_conv = ctx.octree_conv
+
+    grad_out = None
+    if ctx.needs_input_grad[0]:
+      grad_out = torch.zeros_like(data)
+      grad_out = octree_conv.backward_gemm(grad_out, grad, weights)
+
+    grad_w = None
+    if ctx.needs_input_grad[1]:
+      grad_w = torch.zeros_like(weights)
+      grad_w = octree_conv.weight_gemm(grad_w, data, grad)
+
+    return (grad_out, grad_w) + (None,) * 8
+
+
+class OctreeDeconvFunction(Function):
+  r''' Wrap the octree deconvolution for auto-diff.
+  '''
+
+  @staticmethod
+  def forward(ctx, data: torch.Tensor, weights: torch.Tensor, octree: Octree,
+              depth: int, in_channels: int, out_channels: int,
+              kernel_size: List[int] = [3, 3, 3], stride: int = 1,
+              nempty: bool = False, max_buffer: int = int(2e8)):
+    octree_deconv = _OctreeDeconv(
+        in_channels, out_channels, kernel_size, stride, nempty, max_buffer)
+    octree_deconv.setup(octree, depth)
+    out = octree_deconv.check_and_init(data)
+    out = octree_deconv.backward_gemm(out, data, weights)
+
+    ctx.save_for_backward(data, weights)
+    ctx.octree_deconv = octree_deconv
+    return out
+
+  @staticmethod
+  def backward(ctx, grad):
+    data, weights = ctx.saved_tensors
+    octree_deconv = ctx.octree_deconv
+
+    grad_out = None
+    if ctx.needs_input_grad[0]:
+      grad_out = torch.zeros_like(data)
+      grad_out = octree_deconv.forward_gemm(grad_out, grad, weights)
+
+    grad_w = None
+    if ctx.needs_input_grad[1]:
+      grad_w = torch.zeros_like(weights)
+      grad_w = octree_deconv.weight_gemm(grad_w, grad, data)
+
+    return (grad_out, grad_w) + (None,) * 8
+
+
+# alias
+octree_conv = OctreeConvFunction.apply
+octree_deconv = OctreeDeconvFunction.apply
+
+
+class OctreeConv(OctreeConvBase, torch.nn.Module):
+  r''' Performs octree convolution.
+
+  Args:
+    in_channels (int): Number of input channels.
+    out_channels (int): Number of output channels.
+    kernel_size (List(int)): The kernel shape, choose from :obj:`[3]`, :obj:`[2]`,
+        :obj:`[3,3,3]`, :obj:`[3,1,1]`, :obj:`[1,3,1]`, :obj:`[1,1,3]`,
+        :obj:`[2,2,2]`, :obj:`[3,3,1]`, :obj:`[1,3,3]`, and :obj:`[3,1,3]`.
+    stride (int): The stride of the convolution (:obj:`1` or :obj:`2`).
+    nempty (bool): If True, only performs the convolution on non-empty
+        octree nodes.
+    direct_method (bool): If True, directly performs the convolution via using
+        gemm and octree2col/col2octree. The octree2col/col2octree needs to
+        construct a large matrix, which may consume a lot of memory. If False,
+        performs the convolution in a sub-matrix manner, which can save the
+        requied runtime memory.
+    use_bias (bool): If True, add a bias term to the convolution.
+    max_buffer (int): The maximum number of elements in the buffer, used when
+        :attr:`direct_method` is False.
+
+  .. note::
+    Each non-empty octree node has exactly 8 children nodes, among which some
+    children nodes are non-empty and some are empty. If :attr:`nempty` is true,
+    the convolution is performed on non-empty octree nodes only, which is exactly
+    the same as SparseConvNet and MinkowsiNet; if :attr:`nempty` is false, the
+    convolution is performed on all octree nodes, which is essential for shape
+    reconstruction tasks and can also be used in classification and segmentation
+    (with slightly better performance and larger memory cost).
+  '''
+
+  def __init__(self, in_channels: int, out_channels: int,
+               kernel_size: List[int] = [3], stride: int = 1,
+               nempty: bool = False, direct_method: bool = False,
+               use_bias: bool = False, max_buffer: int = int(2e8)):
+    super().__init__(
+        in_channels, out_channels, kernel_size, stride, nempty, max_buffer)
+
+    self.direct_method = direct_method
+    self.use_bias = use_bias
+    self.weights = torch.nn.Parameter(torch.Tensor(*self.weights_shape))
+    if self.use_bias:
+      self.bias = torch.nn.Parameter(torch.Tensor(out_channels))
+    self.reset_parameters()
+
+  def reset_parameters(self):
+    xavier_uniform_(self.weights)
+    if self.use_bias:
+      torch.nn.init.zeros_(self.bias)
+
+  def is_conv_layer(self): return True
+
+  def forward(self, data: torch.Tensor, octree: Octree, depth: int):
+    r''' Defines the octree convolution.
+
+    Args:
+      data (torch.Tensor): The input data.
+      octree (Octree): The corresponding octree.
+      depth (int): The depth of current octree.
+    '''
+
+    if self.direct_method:
+      col = octree2col(
+          data, octree, depth, self.kernel, self.stride, self.nempty)
+      out = torch.mm(col.flatten(1), self.weights.flatten(0, 1))
+    else:
+      out = octree_conv(
+          data, self.weights, octree, depth, self.in_channels,
+          self.out_channels, self.kernel_size, self.stride, self.nempty,
+          self.max_buffer)
+
+    if self.use_bias:
+      out += self.bias
+
+    if self.stride == 2 and not self.nempty:
+      out = octree_pad(out, octree, depth-1)
+    return out
+
+  def extra_repr(self) -> str:
+    r''' Sets the extra representation of the module.
+    '''
+
+    return ('in_channels={}, out_channels={}, kernel_size={}, stride={}, '
+            'nempty={}, bias={}').format(self.in_channels, self.out_channels,
+             self.kernel_size, self.stride, self.nempty, self.use_bias)  # noqa
+
+
+class OctreeDeconv(OctreeConv):
+  r''' Performs octree deconvolution.
+
+  Please refer to :class:`OctreeConv` for the meaning of the arguments.
+  '''
+
+  def is_conv_layer(self): return False
+
+  def forward(self, data: torch.Tensor, octree: Octree, depth: int):
+    r''' Defines the octree deconvolution.
+
+    Please refer to :meth:`OctreeConv.forward` for the meaning of the arguments.
+    '''
+
+    depth_col = depth
+    if self.stride == 2:
+      depth_col = depth + 1
+      if not self.nempty:
+        data = octree_depad(data, octree, depth)
+
+    if self.direct_method:
+      col = torch.mm(data, self.weights.flatten(0, 1).t())
+      col = col.view(col.shape[0], self.kdim, -1)
+      out = col2octree(
+          col, octree, depth_col, self.kernel, self.stride, self.nempty)
+    else:
+      out = octree_deconv(
+          data, self.weights, octree, depth, self.in_channels,
+          self.out_channels, self.kernel_size, self.stride, self.nempty,
+          self.max_buffer)
+
+    if self.use_bias:
+      out += self.bias
+    return out