GFPNet/model.py at master · RovisLab/GFPNet · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
from keras.layers import Input
from keras.models import Model
from keras.layers import Dense, Flatten, Reshape, Dropout
from keras.layers import Convolution1D, MaxPooling1D, BatchNormalization, Convolution3D
from keras.layers import Lambda, concatenate, multiply
import  numpy as np
import tensorflow as tf
from custom_layers import matMul_layer

def classification_model(num_points, k_clases):
    input_points = Input(shape=(num_points, 3))
    x = Convolution1D(64, 1, activation='relu',
                      input_shape=(num_points, 3))(input_points)
    x = BatchNormalization()(x)
    x = Convolution1D(128, 1, activation='relu')(x)
    x = BatchNormalization()(x)
    x = Convolution1D(1024, 1, activation='relu')(x)
    x = BatchNormalization()(x)
    x = MaxPooling1D(pool_size=num_points)(x)
    x = Dense(512, activation='relu')(x)
    x = BatchNormalization()(x)
    x = Dense(256, activation='relu')(x)
    x = BatchNormalization()(x)
    x = Dense(9, weights=[np.zeros([256, 9]), np.array([1, 0, 0, 0, 1, 0, 0, 0, 1]).astype(np.float32)])(x)
    input_T = Reshape((3, 3))(x)

    g = matMul_layer([input_points, input_T])
    g = Convolution1D(64, 1, input_shape=(num_points, 3), activation='relu')(g)
    g = BatchNormalization()(g)
    g = Convolution1D(64, 1, input_shape=(num_points, 3), activation='relu')(g)
    g = BatchNormalization()(g)

    # feature transform net
    f = Convolution1D(64, 1, activation='relu')(g)
    f = BatchNormalization()(f)
    f = Convolution1D(128, 1, activation='relu')(f)
    f = BatchNormalization()(f)
    f = Convolution1D(1024, 1, activation='relu')(f)
    f = BatchNormalization()(f)
    f = MaxPooling1D(pool_size=num_points)(f)
    f = Dense(512, activation='relu')(f)
    f = BatchNormalization()(f)
    f = Dense(256, activation='relu')(f)
    f = BatchNormalization()(f)
    f = Dense(64 * 64, weights=[np.zeros([256, 64 * 64]), np.eye(64).flatten().astype(np.float32)])(f)
    feature_T = Reshape((64, 64))(f)

    g = matMul_layer([g, feature_T])
    g = Convolution1D(64, 1, activation='relu')(g)
    g = BatchNormalization()(g)
    g = Convolution1D(128, 1, activation='relu')(g)
    g = BatchNormalization()(g)
    g = Convolution1D(1024, 1, activation='relu')(g)
    g = BatchNormalization()(g)

    # global_feature
    global_feature = MaxPooling1D(pool_size=num_points)(g)

    # point_net_cls
    c = Dense(512, activation='relu')(global_feature)
    c = BatchNormalization()(c)
    c = Dropout(rate=0.7)(c)
    c = Dense(256, activation='relu')(c)
    c = BatchNormalization()(c)
    c = Dropout(rate=0.7)(c)
    c = Dense(k_clases, activation='softmax')(c)
    prediction = Flatten()(c)

    model = Model(inputs=input_points, outputs=prediction)
    return model


def GFPNet(num_points):
    input_points = Input(shape=(num_points, 3))
    x = Convolution1D(64, 1, activation='relu')(input_points)
    x = BatchNormalization()(x)
    x = Convolution1D(128, 1, activation='relu')(x)
    x = BatchNormalization()(x)
    x = Convolution1D(256, 1, activation='relu')(x)
    x = BatchNormalization()(x)

    f = MaxPooling1D(pool_size=num_points)(x)
    f = Dense(256, activation='relu')(f)
    f = Dense(128, activation='relu')(f)
    f = Dense(64, activation='relu')(f)
    f = Flatten()(f)
    prediction = Dense(3, activation=None)(f)

    model = Model(inputs=input_points, outputs=prediction)

    return model