80 lines
3.5 KiB
Python
80 lines
3.5 KiB
Python
from argparse import Namespace
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import torch
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from torch import nn
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from torch_geometric.data import Data
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from datasets.full_pointclouds import FullCloudsDataset
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from models._point_net_2 import _PointNetCore
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from utils.module_mixins import BaseValMixin, BaseTrainMixin, BaseOptimizerMixin, BaseDataloadersMixin, DatasetMixin
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from utils.project_config import GlobalVar
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class PointNet2GridClusters(BaseValMixin,
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BaseTrainMixin,
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BaseOptimizerMixin,
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DatasetMixin,
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BaseDataloadersMixin,
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_PointNetCore
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):
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def training_step(self, batch_pos_x_n_y_c, batch_nb, *_, **__):
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data = self.batch_to_data(*batch_pos_x_n_y_c) if not isinstance(batch_pos_x_n_y_c, Data) else batch_pos_x_n_y_c
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y = self(data)
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nll_main_loss = self.nll_loss(y.main_out, data.yl)
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nll_cluster_loss = self.nll_loss(y.grid_out, data.yc)
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nll_loss = nll_main_loss + nll_cluster_loss
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return dict(loss=nll_loss, log=dict(batch_nb=batch_nb),
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nll_cluster_loss=nll_cluster_loss, nll_main_loss=nll_main_loss)
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def validation_step(self, batch_pos_x_n_y_c, batch_idx, *_, **__):
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data = self.batch_to_data(*batch_pos_x_n_y_c) if not isinstance(batch_pos_x_n_y_c, Data) else batch_pos_x_n_y_c
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y = self(data)
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nll_main_loss = self.nll_loss(y.main_out, data.yl)
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nll_cluster_loss = self.nll_loss(y.grid_out, data.yc)
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nll_loss = nll_main_loss + nll_cluster_loss
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return dict(val_nll_loss=nll_loss, nll_cluster_loss=nll_cluster_loss, nll_main_loss=nll_main_loss,
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batch_idx=batch_idx, y=y.main_out, batch_y=data.yl)
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def __init__(self, hparams):
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super(PointNet2GridClusters, self).__init__(hparams=hparams)
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# Dataset
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# =============================================================================
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self.dataset = self.build_dataset(FullCloudsDataset, setting='grid')
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# Model Paramters
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# =============================================================================
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# Additional parameters
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self.n_classes = len(GlobalVar.classes)
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# Modules
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self.point_lin = torch.nn.Linear(128, len(GlobalVar.classes))
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self.grid_lin = torch.nn.Linear(128, GlobalVar.grid_count)
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# Utility
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self.log_softmax = nn.LogSoftmax(dim=-1)
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def forward(self, data, **kwargs):
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"""
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data: a batch of input torch_geometric.data.Data type
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- torch_geometric.data.Data, as torch_geometric batch input:
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data.x: (batch_size * ~num_points, C), batch nodes/points feature,
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~num_points means each sample can have different number of points/nodes
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data.pos: (batch_size * ~num_points, 3)
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data.batch: (batch_size * ~num_points,), a column vector of graph/pointcloud
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idendifiers for all nodes of all graphs/pointclouds in the batch. See
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pytorch_gemometric documentation for more information
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"""
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sa0_out = (data.x, data.pos, data.batch)
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tensor = super(PointNet2GridClusters, self).forward(sa0_out)
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point_tensor = self.point_lin(tensor)
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point_tensor = self.log_softmax(point_tensor)
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grid_tensor = self.grid_lin(tensor)
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grid_tensor = self.log_softmax(grid_tensor)
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return Namespace(main_out=point_tensor, grid_out=grid_tensor)
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