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

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 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`)
-  '''
-
-  idx = octree.nempty_index(depth)
-  size = (octree.nnum[depth], data.shape[1])  # (N, C)
-  out = torch.full(size, val, dtype=data.dtype, device=data.device)
-  out[idx] = 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.
-  '''
-
-  idx = octree.nempty_index(depth)
-  return data[idx]
+# --------------------------------------------------------
+# 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`)
+  '''
+
+  idx = octree.nempty_index(depth)
+  size = (octree.nnum[depth], data.shape[1])  # (N, C)
+  out = torch.full(size, val, dtype=data.dtype, device=data.device)
+  out[idx] = 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.
+  '''
+
+  idx = octree.nempty_index(depth)
+  return data[idx]

ocnn/nn/octree_pool.py

@@ -1,200 +1,200 @@
-# --------------------------------------------------------
-# 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 typing import List
-
-from ocnn.octree import Octree
-from ocnn.utils import meshgrid, scatter_add, resize_with_last_val, list2str
-from . import octree_pad, octree_depad
-
-
-def octree_max_pool(data: torch.Tensor, octree: Octree, depth: int,
-                    nempty: bool = False, return_indices: bool = False):
-  r''' Performs octree max pooling with kernel size 2 and stride 2.
-
-  Args:
-    data (torch.Tensor): The input tensor.
-    octree (Octree): The corresponding octree.
-    depth (int): The depth of current octree. After pooling, the corresponding
-        depth decreased by 1.
-    nempty (bool): If True, :attr:`data` contains only features of non-empty
-        octree nodes.
-    return_indices (bool): If True, returns the indices, which can be used in
-        :func:`octree_max_unpool`.
-  '''
-
-  if nempty:
-    data = octree_pad(data, octree, depth, float('-inf'))
-  data = data.view(-1, 8, data.shape[1])
-  out, indices = data.max(dim=1)
-  if not nempty:
-    out = octree_pad(out, octree, depth-1)
-  return (out, indices) if return_indices else out
-
-
-def octree_max_unpool(data: torch.Tensor, indices: torch.Tensor, octree: Octree,
-                      depth: int, nempty: bool = False):
-  r''' Performs octree max unpooling.
-
-  Args:
-    data (torch.Tensor): The input tensor.
-    indices (torch.Tensor): The indices returned by :func:`octree_max_pool`. The
-        depth of :attr:`indices` is larger by 1 than :attr:`data`.
-    octree (Octree): The corresponding octree.
-    depth (int): The depth of current data. After unpooling, the corresponding
-        depth increases by 1.
-  '''
-
-  if not nempty:
-    data = octree_depad(data, octree, depth)
-  num, channel = data.shape
-  out = torch.zeros(num, 8, channel, dtype=data.dtype, device=data.device)
-  i = torch.arange(num, dtype=indices.dtype, device=indices.device)
-  k = torch.arange(channel, dtype=indices.dtype, device=indices.device)
-  i, k = meshgrid(i, k, indexing='ij')
-  out[i, indices, k] = data
-  out = out.view(-1, channel)
-  if nempty:
-    out = octree_depad(out, octree, depth+1)
-  return out
-
-
-def octree_avg_pool(data: torch.Tensor, octree: Octree, depth: int,
-                    kernel: str, stride: int = 2, nempty: bool = False):
-  r''' Performs octree average pooling.
-
-  Args:
-    data (torch.Tensor): The input tensor.
-    octree (Octree): The corresponding octree.
-    depth (int): The depth of current octree.
-    kernel (str): The kernel size, like '333', '222'.
-    stride (int): The stride of the pooling.
-    nempty (bool): If True, :attr:`data` contains only features of non-empty
-        octree nodes.
-  '''
-
-  neigh = octree.get_neigh(depth, kernel, stride, nempty)
-
-  N1 = data.shape[0]
-  N2 = neigh.shape[0]
-  K = neigh.shape[1]
-
-  mask = neigh >= 0
-  val = 1.0 / (torch.sum(mask, dim=1) + 1e-8)
-  mask = mask.view(-1)
-  val = val.unsqueeze(1).repeat(1, K).reshape(-1)
-  val = val[mask]
-
-  row = torch.arange(N2, device=neigh.device)
-  row = row.unsqueeze(1).repeat(1, K).view(-1)
-  col = neigh.view(-1)
-  indices = torch.stack([row[mask], col[mask]], dim=0).long()
-
-  mat = torch.sparse_coo_tensor(indices, val, [N2, N1], device=data.device)
-  out = torch.sparse.mm(mat, data)
-  return out
-
-
-def octree_global_pool(data: torch.Tensor, octree: Octree, depth: int,
-                       nempty: bool = False):
-  r''' Performs octree global average pooling.
-
-  Args:
-    data (torch.Tensor): The input tensor.
-    octree (Octree): The corresponding octree.
-    depth (int): The depth of current octree.
-    nempty (bool): If True, :attr:`data` contains only features of non-empty
-        octree nodes.
-  '''
-
-  batch_size = octree.batch_size
-  batch_id = octree.batch_id(depth, nempty)
-  ones = data.new_ones(data.shape[0], 1)
-  count = scatter_add(ones, batch_id, dim=0, dim_size=batch_size)
-  count[count < 1] = 1  # there might be 0 element in some shapes
-
-  out = scatter_add(data, batch_id, dim=0, dim_size=batch_size)
-  out = out / count
-  return out
-
-
-class OctreePoolBase(torch.nn.Module):
-  r''' The base class for octree-based pooling.
-  '''
-
-  def __init__(self, kernel_size: List[int], stride: int, nempty: bool = False):
-    super().__init__()
-    self.kernel_size = resize_with_last_val(kernel_size)
-    self.kernel = list2str(self.kernel_size)
-    self.stride = stride
-    self.nempty = nempty
-
-  def extra_repr(self) -> str:
-    return ('kernel_size={}, stride={}, nempty={}').format(
-            self.kernel_size, self.stride, self.nempty)  # noqa
-
-
-class OctreeMaxPool(OctreePoolBase):
-  r''' Performs octree max pooling.
-
-  Please refer to :func:`octree_max_pool` for details.
-  '''
-
-  def __init__(self, nempty: bool = False, return_indices: bool = False):
-    super().__init__(kernel_size=[2], stride=2, nempty=nempty)
-    self.return_indices = return_indices
-
-  def forward(self, data: torch.Tensor, octree: Octree, depth: int):
-    r''''''
-
-    return octree_max_pool(data, octree, depth, self.nempty, self.return_indices)
-
-
-class OctreeMaxUnpool(OctreePoolBase):
-  r''' Performs octree max unpooling.
-
-  Please refer to :func:`octree_max_unpool` for details.
-  '''
-
-  def __init__(self, nempty: bool = False):
-    super().__init__(kernel_size=[2], stride=2, nempty=nempty)
-
-  def forward(self, data: torch.Tensor, indices: torch.Tensor, octree: Octree,
-              depth: int):
-    r''''''
-
-    return octree_max_unpool(data, indices, octree, depth, self.nempty)
-
-
-class OctreeGlobalPool(OctreePoolBase):
-  r''' Performs octree global pooling.
-
-  Please refer to :func:`octree_global_pool` for details.
-  '''
-
-  def __init__(self, nempty: bool = False):
-    super().__init__(kernel_size=[-1], stride=-1, nempty=nempty)
-
-  def forward(self, data: torch.Tensor, octree: Octree, depth: int):
-    r''''''
-
-    return octree_global_pool(data, octree, depth, self.nempty)
-
-
-class OctreeAvgPool(OctreePoolBase):
-  r''' Performs octree average pooling.
-
-  Please refer to :func:`octree_avg_pool` for details.
-  '''
-
-  def forward(self, data: torch.Tensor, octree: Octree, depth: int):
-    r''''''
-
-    return octree_avg_pool(
-        data, octree, depth, self.kernel, self.stride, 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 typing import List
+
+from ocnn.octree import Octree
+from ocnn.utils import meshgrid, scatter_add, resize_with_last_val, list2str
+from . import octree_pad, octree_depad
+
+
+def octree_max_pool(data: torch.Tensor, octree: Octree, depth: int,
+                    nempty: bool = False, return_indices: bool = False):
+  r''' Performs octree max pooling with kernel size 2 and stride 2.
+
+  Args:
+    data (torch.Tensor): The input tensor.
+    octree (Octree): The corresponding octree.
+    depth (int): The depth of current octree. After pooling, the corresponding
+        depth decreased by 1.
+    nempty (bool): If True, :attr:`data` contains only features of non-empty
+        octree nodes.
+    return_indices (bool): If True, returns the indices, which can be used in
+        :func:`octree_max_unpool`.
+  '''
+
+  if nempty:
+    data = octree_pad(data, octree, depth, float('-inf'))
+  data = data.view(-1, 8, data.shape[1])
+  out, indices = data.max(dim=1)
+  if not nempty:
+    out = octree_pad(out, octree, depth-1)
+  return (out, indices) if return_indices else out
+
+
+def octree_max_unpool(data: torch.Tensor, indices: torch.Tensor, octree: Octree,
+                      depth: int, nempty: bool = False):
+  r''' Performs octree max unpooling.
+
+  Args:
+    data (torch.Tensor): The input tensor.
+    indices (torch.Tensor): The indices returned by :func:`octree_max_pool`. The
+        depth of :attr:`indices` is larger by 1 than :attr:`data`.
+    octree (Octree): The corresponding octree.
+    depth (int): The depth of current data. After unpooling, the corresponding
+        depth increases by 1.
+  '''
+
+  if not nempty:
+    data = octree_depad(data, octree, depth)
+  num, channel = data.shape
+  out = torch.zeros(num, 8, channel, dtype=data.dtype, device=data.device)
+  i = torch.arange(num, dtype=indices.dtype, device=indices.device)
+  k = torch.arange(channel, dtype=indices.dtype, device=indices.device)
+  i, k = meshgrid(i, k, indexing='ij')
+  out[i, indices, k] = data
+  out = out.view(-1, channel)
+  if nempty:
+    out = octree_depad(out, octree, depth+1)
+  return out
+
+
+def octree_avg_pool(data: torch.Tensor, octree: Octree, depth: int,
+                    kernel: str, stride: int = 2, nempty: bool = False):
+  r''' Performs octree average pooling.
+
+  Args:
+    data (torch.Tensor): The input tensor.
+    octree (Octree): The corresponding octree.
+    depth (int): The depth of current octree.
+    kernel (str): The kernel size, like '333', '222'.
+    stride (int): The stride of the pooling.
+    nempty (bool): If True, :attr:`data` contains only features of non-empty
+        octree nodes.
+  '''
+
+  neigh = octree.get_neigh(depth, kernel, stride, nempty)
+
+  N1 = data.shape[0]
+  N2 = neigh.shape[0]
+  K = neigh.shape[1]
+
+  mask = neigh >= 0
+  val = 1.0 / (torch.sum(mask, dim=1) + 1e-8)
+  mask = mask.view(-1)
+  val = val.unsqueeze(1).repeat(1, K).reshape(-1)
+  val = val[mask]
+
+  row = torch.arange(N2, device=neigh.device)
+  row = row.unsqueeze(1).repeat(1, K).view(-1)
+  col = neigh.view(-1)
+  indices = torch.stack([row[mask], col[mask]], dim=0).long()
+
+  mat = torch.sparse_coo_tensor(indices, val, [N2, N1], device=data.device)
+  out = torch.sparse.mm(mat, data)
+  return out
+
+
+def octree_global_pool(data: torch.Tensor, octree: Octree, depth: int,
+                       nempty: bool = False):
+  r''' Performs octree global average pooling.
+
+  Args:
+    data (torch.Tensor): The input tensor.
+    octree (Octree): The corresponding octree.
+    depth (int): The depth of current octree.
+    nempty (bool): If True, :attr:`data` contains only features of non-empty
+        octree nodes.
+  '''
+
+  batch_size = octree.batch_size
+  batch_id = octree.batch_id(depth, nempty)
+  ones = data.new_ones(data.shape[0], 1)
+  count = scatter_add(ones, batch_id, dim=0, dim_size=batch_size)
+  count[count < 1] = 1  # there might be 0 element in some shapes
+
+  out = scatter_add(data, batch_id, dim=0, dim_size=batch_size)
+  out = out / count
+  return out
+
+
+class OctreePoolBase(torch.nn.Module):
+  r''' The base class for octree-based pooling.
+  '''
+
+  def __init__(self, kernel_size: List[int], stride: int, nempty: bool = False):
+    super().__init__()
+    self.kernel_size = resize_with_last_val(kernel_size)
+    self.kernel = list2str(self.kernel_size)
+    self.stride = stride
+    self.nempty = nempty
+
+  def extra_repr(self) -> str:
+    return ('kernel_size={}, stride={}, nempty={}').format(
+            self.kernel_size, self.stride, self.nempty)  # noqa
+
+
+class OctreeMaxPool(OctreePoolBase):
+  r''' Performs octree max pooling.
+
+  Please refer to :func:`octree_max_pool` for details.
+  '''
+
+  def __init__(self, nempty: bool = False, return_indices: bool = False):
+    super().__init__(kernel_size=[2], stride=2, nempty=nempty)
+    self.return_indices = return_indices
+
+  def forward(self, data: torch.Tensor, octree: Octree, depth: int):
+    r''''''
+
+    return octree_max_pool(data, octree, depth, self.nempty, self.return_indices)
+
+
+class OctreeMaxUnpool(OctreePoolBase):
+  r''' Performs octree max unpooling.
+
+  Please refer to :func:`octree_max_unpool` for details.
+  '''
+
+  def __init__(self, nempty: bool = False):
+    super().__init__(kernel_size=[2], stride=2, nempty=nempty)
+
+  def forward(self, data: torch.Tensor, indices: torch.Tensor, octree: Octree,
+              depth: int):
+    r''''''
+
+    return octree_max_unpool(data, indices, octree, depth, self.nempty)
+
+
+class OctreeGlobalPool(OctreePoolBase):
+  r''' Performs octree global pooling.
+
+  Please refer to :func:`octree_global_pool` for details.
+  '''
+
+  def __init__(self, nempty: bool = False):
+    super().__init__(kernel_size=[-1], stride=-1, nempty=nempty)
+
+  def forward(self, data: torch.Tensor, octree: Octree, depth: int):
+    r''''''
+
+    return octree_global_pool(data, octree, depth, self.nempty)
+
+
+class OctreeAvgPool(OctreePoolBase):
+  r''' Performs octree average pooling.
+
+  Please refer to :func:`octree_avg_pool` for details.
+  '''
+
+  def forward(self, data: torch.Tensor, octree: Octree, depth: int):
+    r''''''
+
+    return octree_avg_pool(
+        data, octree, depth, self.kernel, self.stride, self.nempty)

ocnn/octree/__init__.py

@@ -1,22 +1,22 @@
-# --------------------------------------------------------
-# 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
-# --------------------------------------------------------
-
-from .shuffled_key import key2xyz, xyz2key
-from .points import Points, merge_points
-from .octree import Octree, merge_octrees, init_octree
-
-__all__ = [
-    'key2xyz',
-    'xyz2key',
-    'Points',
-    'Octree',
-    'merge_points',
-    'merge_octrees',
-    'init_octree',
-]
-
-classes = __all__
+# --------------------------------------------------------
+# 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
+# --------------------------------------------------------
+
+from .shuffled_key import key2xyz, xyz2key
+from .points import Points, merge_points
+from .octree import Octree, merge_octrees, init_octree
+
+__all__ = [
+    'key2xyz',
+    'xyz2key',
+    'Points',
+    'Octree',
+    'merge_points',
+    'merge_octrees',
+    'init_octree',
+]
+
+classes = __all__