(self, base_accuracy, level_kp_num=(30, 10, 3, 0), level_dacc=(0, 0.02, 0.04, 0.06),
ground_salience_level=2, feature_region=3, segments=8, sharp_num=4, less_sharp_num=8, flat_num=6,
uniform=True)
| 34 | |
| 35 | class QuantizationModule: |
| 36 | def __init__(self, base_accuracy, level_kp_num=(30, 10, 3, 0), level_dacc=(0, 0.02, 0.04, 0.06), |
| 37 | ground_salience_level=2, feature_region=3, segments=8, sharp_num=4, less_sharp_num=8, flat_num=6, |
| 38 | uniform=True): |
| 39 | self.uniform = uniform |
| 40 | if uniform: |
| 41 | self.acc = base_accuracy |
| 42 | else: |
| 43 | #################################################################################### |
| 44 | # level_kp_num and level_dacc are enabled when non-uniform quantization. # |
| 45 | # level_kp_num: minimum number of key point in this salience level. # |
| 46 | # level_dacc: delta accuracy for this salience level. acc = base_acc + delta_acc. # |
| 47 | #################################################################################### |
| 48 | self.level_kp_num = np.array(level_kp_num) |
| 49 | self.acc = np.array([base_accuracy] * len(self.level_kp_num)) + np.array(level_dacc) |
| 50 | self.ground_level = ground_salience_level |
| 51 | self.feature_region = feature_region |
| 52 | self.segments = segments |
| 53 | self.sharp_num = sharp_num |
| 54 | self.less_sharp_num = less_sharp_num |
| 55 | self.flat_num = flat_num |
| 56 | |
| 57 | def quantize_residual(self, residual, seg_idx, point_cloud=None, range_image=None): |
| 58 | if self.uniform: |
nothing calls this directly
no outgoing calls
no test coverage detected