pointnet.py 文件源码

def forward(self, x):
        batchsize = x.size()[0]
        trans = self.stn(x)
        x = x.transpose(2,1)
        x = torch.bmm(x, trans)
        x = x.transpose(2,1)
        x = F.relu(self.bn1(self.conv1(x)))
        pointfeat = x
        x = F.relu(self.bn2(self.conv2(x)))
        x = self.bn3(self.conv3(x))
        x = self.mp1(x)
        x = x.view(-1, 1024)
        if self.global_feat:
            return x, trans
        else:
            x = x.view(-1, 1024, 1).repeat(1, 1, self.num_points)
            return torch.cat([x, pointfeat], 1), trans