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model.py
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model.py
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import tensorflow as tf
import math
import time
import numpy as np
import os
import sys
BASE_DIR = os.path.dirname(os.path.abspath(__file__))
ROOT_DIR = os.path.dirname(BASE_DIR)
sys.path.append(os.path.join(ROOT_DIR, 'utils'))
sys.path.append(os.path.join(BASE_DIR, '../models'))
import tf_util
def placeholder_inputs(batch_size, num_point):
pointclouds_pl = tf.placeholder(tf.float32,
shape=(batch_size, num_point, 9))
labels_pl = tf.placeholder(tf.int32,
shape=(batch_size, num_point))
return pointclouds_pl, labels_pl
def get_model(point_cloud, is_training, bn_decay=None):
""" ConvNet baseline, input is BxNx9 gray image """
batch_size = point_cloud.get_shape()[0].value
num_point = point_cloud.get_shape()[1].value
input_image = tf.expand_dims(point_cloud, -1)
k = 20
adj = tf_util.pairwise_distance(point_cloud[:, :, 6:])
nn_idx = tf_util.knn(adj, k=k) # (batch, num_points, k)
edge_feature = tf_util.get_edge_feature(input_image, nn_idx=nn_idx, k=k)
out1 = tf_util.conv2d(edge_feature, 64, [1,1],
padding='VALID', stride=[1,1],
bn=True, is_training=is_training, weight_decay=weight_decay,
scope='adj_conv1', bn_decay=bn_decay, is_dist=True)
out2 = tf_util.conv2d(out1, 64, [1,1],
padding='VALID', stride=[1,1],
bn=True, is_training=is_training, weight_decay=weight_decay,
scope='adj_conv2', bn_decay=bn_decay, is_dist=True)
net_1 = tf.reduce_max(out2, axis=-2, keep_dims=True)
adj = tf_util.pairwise_distance(net_1)
nn_idx = tf_util.knn(adj, k=k)
edge_feature = tf_util.get_edge_feature(net_1, nn_idx=nn_idx, k=k)
out3 = tf_util.conv2d(edge_feature, 64, [1,1],
padding='VALID', stride=[1,1],
bn=True, is_training=is_training, weight_decay=weight_decay,
scope='adj_conv3', bn_decay=bn_decay, is_dist=True)
out4 = tf_util.conv2d(out3, 64, [1,1],
padding='VALID', stride=[1,1],
bn=True, is_training=is_training, weight_decay=weight_decay,
scope='adj_conv4', bn_decay=bn_decay, is_dist=True)
net_2 = tf.reduce_max(out4, axis=-2, keep_dims=True)
adj = tf_util.pairwise_distance(net_2)
nn_idx = tf_util.knn(adj, k=k)
edge_feature = tf_util.get_edge_feature(net_2, nn_idx=nn_idx, k=k)
out5 = tf_util.conv2d(edge_feature, 64, [1,1],
padding='VALID', stride=[1,1],
bn=True, is_training=is_training, weight_decay=weight_decay,
scope='adj_conv5', bn_decay=bn_decay, is_dist=True)
# out6 = tf_util.conv2d(out5, 64, [1,1],
# padding='VALID', stride=[1,1],
# bn=True, is_training=is_training, weight_decay=weight_decay,
# scope='adj_conv6', bn_decay=bn_decay, is_dist=True)
net_3 = tf.reduce_max(out5, axis=-2, keep_dims=True)
out7 = tf_util.conv2d(tf.concat([net_1, net_2, net_3], axis=-1), 1024, [1, 1],
padding='VALID', stride=[1,1],
bn=True, is_training=is_training,
scope='adj_conv7', bn_decay=bn_decay, is_dist=True)
out_max = tf_util.max_pool2d(out7, [num_point, 1], padding='VALID', scope='maxpool')
expand = tf.tile(out_max, [1, num_point, 1, 1])
concat = tf.concat(axis=3, values=[expand,
net_1,
net_2,
net_3])
# CONV
net = tf_util.conv2d(concat, 512, [1,1], padding='VALID', stride=[1,1],
bn=True, is_training=is_training, scope='seg/conv1', is_dist=True)
net = tf_util.conv2d(net, 256, [1,1], padding='VALID', stride=[1,1],
bn=True, is_training=is_training, scope='seg/conv2', is_dist=True)
net = tf_util.dropout(net, keep_prob=0.7, is_training=is_training, scope='dp1')
net = tf_util.conv2d(net, 13, [1,1], padding='VALID', stride=[1,1],
activation_fn=None, scope='seg/conv3', is_dist=True)
net = tf.squeeze(net, [2])
return net
def get_loss(pred, label):
""" pred: B,N,13; label: B,N """
loss = tf.nn.sparse_softmax_cross_entropy_with_logits(logits=pred, labels=label)
return tf.reduce_mean(loss)