| 751 | |
| 752 | |
| 753 | class Embedding(PointModule): |
| 754 | def __init__( |
| 755 | self, |
| 756 | in_channels, |
| 757 | embed_channels, |
| 758 | norm_layer=None, |
| 759 | act_layer=None, |
| 760 | ): |
| 761 | super().__init__() |
| 762 | self.in_channels = in_channels |
| 763 | self.embed_channels = embed_channels |
| 764 | |
| 765 | # TODO: check remove spconv |
| 766 | self.stem = PointSequential( |
| 767 | conv=spconv.SubMConv3d( |
| 768 | in_channels, |
| 769 | embed_channels, |
| 770 | kernel_size=5, |
| 771 | padding=1, |
| 772 | bias=False, |
| 773 | indice_key="stem", |
| 774 | ) |
| 775 | ) |
| 776 | if norm_layer is not None: |
| 777 | self.stem.add(norm_layer(embed_channels), name="norm") |
| 778 | if act_layer is not None: |
| 779 | self.stem.add(act_layer(), name="act") |
| 780 | |
| 781 | def forward(self, point: Point): |
| 782 | point = self.stem(point) |
| 783 | return point |
| 784 | |
| 785 | |
| 786 | class PointTransformerV3(PointModule): |