| 28 | |
| 29 | |
| 30 | class SparseBasicBlock(spconv.SparseModule): |
| 31 | expansion = 1 |
| 32 | |
| 33 | def __init__(self, inplanes, planes, stride=1, norm_fn=None, downsample=None, indice_key=None): |
| 34 | super(SparseBasicBlock, self).__init__() |
| 35 | |
| 36 | assert norm_fn is not None |
| 37 | bias = norm_fn is not None |
| 38 | self.conv1 = spconv.SubMConv3d( |
| 39 | inplanes, planes, kernel_size=3, stride=stride, padding=1, bias=bias, indice_key=indice_key |
| 40 | ) |
| 41 | self.bn1 = norm_fn(planes) |
| 42 | self.relu = nn.ReLU() |
| 43 | self.conv2 = spconv.SubMConv3d( |
| 44 | planes, planes, kernel_size=3, stride=stride, padding=1, bias=bias, indice_key=indice_key |
| 45 | ) |
| 46 | self.bn2 = norm_fn(planes) |
| 47 | self.downsample = downsample |
| 48 | self.stride = stride |
| 49 | |
| 50 | def forward(self, x): |
| 51 | identity = x |
| 52 | |
| 53 | out = self.conv1(x) |
| 54 | out = replace_feature(out, self.bn1(out.features)) |
| 55 | out = replace_feature(out, self.relu(out.features)) |
| 56 | |
| 57 | out = self.conv2(out) |
| 58 | out = replace_feature(out, self.bn2(out.features)) |
| 59 | |
| 60 | if self.downsample is not None: |
| 61 | identity = self.downsample(x) |
| 62 | |
| 63 | out = replace_feature(out, out.features + identity.features) |
| 64 | out = replace_feature(out, self.relu(out.features)) |
| 65 | |
| 66 | return out |
| 67 | |
| 68 | |
| 69 | class VoxelBackBone8x(nn.Module): |