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PointDSC.py
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PointDSC.py
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import torch
import torch.nn as nn
import torch.nn.functional as F
import numpy as np
from models.common import knn, rigid_transform_3d
from utils.SE3 import transform
class NonLocalBlock(nn.Module):
def __init__(self, num_channels=128, num_heads=1):
super(NonLocalBlock, self).__init__()
self.fc_message = nn.Sequential(
nn.Conv1d(num_channels, num_channels//2, kernel_size=1),
nn.BatchNorm1d(num_channels//2),
nn.ReLU(inplace=True),
nn.Conv1d(num_channels//2, num_channels//2, kernel_size=1),
nn.BatchNorm1d(num_channels//2),
nn.ReLU(inplace=True),
nn.Conv1d(num_channels//2, num_channels, kernel_size=1),
)
self.projection_q = nn.Conv1d(num_channels, num_channels, kernel_size=1)
self.projection_k = nn.Conv1d(num_channels, num_channels, kernel_size=1)
self.projection_v = nn.Conv1d(num_channels, num_channels, kernel_size=1)
self.num_channels = num_channels
self.head = num_heads
def forward(self, feat, attention):
"""
Input:
- feat: [bs, num_channels, num_corr] input feature
- attention [bs, num_corr, num_corr] spatial consistency matrix
Output:
- res: [bs, num_channels, num_corr] updated feature
"""
bs, num_corr = feat.shape[0], feat.shape[-1]
Q = self.projection_q(feat).view([bs, self.head, self.num_channels // self.head, num_corr])
K = self.projection_k(feat).view([bs, self.head, self.num_channels // self.head, num_corr])
V = self.projection_v(feat).view([bs, self.head, self.num_channels // self.head, num_corr])
feat_attention = torch.einsum('bhco, bhci->bhoi', Q, K) / (self.num_channels // self.head) ** 0.5
# combine the feature similarity with spatial consistency
weight = torch.softmax(attention[:, None, :, :] * feat_attention, dim=-1)
message = torch.einsum('bhoi, bhci-> bhco', weight, V).reshape([bs, -1, num_corr])
message = self.fc_message(message)
res = feat + message
return res
class NonLocalNet(nn.Module):
def __init__(self, in_dim=6, num_layers=6, num_channels=128):
super(NonLocalNet, self).__init__()
self.num_layers = num_layers
self.blocks = nn.ModuleDict()
self.layer0 = nn.Conv1d(in_dim, num_channels, kernel_size=1, bias=True)
for i in range(num_layers):
layer = nn.Sequential(
nn.Conv1d(num_channels, num_channels, kernel_size=1, bias=True),
# nn.InstanceNorm1d(num_channels),
nn.BatchNorm1d(num_channels),
nn.ReLU(inplace=True)
)
self.blocks[f'PointCN_layer_{i}'] = layer
self.blocks[f'NonLocal_layer_{i}'] = NonLocalBlock(num_channels)
def forward(self, corr_feat, corr_compatibility):
"""
Input:
- corr_feat: [bs, in_dim, num_corr] input feature map
- corr_compatibility: [bs, num_corr, num_corr] spatial consistency matrix
Output:
- feat: [bs, num_channels, num_corr] updated feature
"""
feat = self.layer0(corr_feat)
for i in range(self.num_layers):
feat = self.blocks[f'PointCN_layer_{i}'](feat)
feat = self.blocks[f'NonLocal_layer_{i}'](feat, corr_compatibility)
return feat
class PointDSC(nn.Module):
def __init__(self,
in_dim=6,
num_layers=6,
num_channels=128,
num_iterations=10,
ratio=0.1,
inlier_threshold=0.10,
sigma_d=0.10,
k=40,
nms_radius=0.10,
):
super(PointDSC, self).__init__()
self.num_iterations = num_iterations # maximum iteration of power iteration algorithm
self.ratio = ratio # the maximum ratio of seeds.
self.num_channels = num_channels
self.inlier_threshold = inlier_threshold
self.sigma = nn.Parameter(torch.Tensor([1.0]).float(), requires_grad=True)
self.sigma_spat = nn.Parameter(torch.Tensor([sigma_d]).float(), requires_grad=False)
self.k = k # neighborhood number in NSM module.
self.nms_radius = nms_radius # only used during testing
self.encoder = NonLocalNet(
in_dim=in_dim,
num_layers=num_layers,
num_channels=num_channels,
)
self.classification = nn.Sequential(
nn.Conv1d(num_channels, 32, kernel_size=1, bias=True),
nn.ReLU(inplace=True),
nn.Conv1d(32, 32, kernel_size=1, bias=True),
nn.ReLU(inplace=True),
nn.Conv1d(32, 1, kernel_size=1, bias=True),
)
# initialization
for m in self.modules():
if isinstance(m, (nn.Conv1d, nn.Linear)):
nn.init.xavier_normal_(m.weight, gain=1)
elif isinstance(m, (nn.BatchNorm1d)):
nn.init.constant_(m.weight, 1)
nn.init.constant_(m.bias, 0)
# add gradient clipping
# grad_clip_norm = 100
# for p in self.parameters():
# p.register_hook(lambda grad: torch.clamp(grad, -grad_clip_norm, grad_clip_norm))
def forward(self, data):
"""
Input:
- corr_pos: [bs, num_corr, 6]
- src_keypts: [bs, num_corr, 3]
- tgt_keypts: [bs, num_corr, 3]
- testing: flag for test phase, if False will not calculate M and post-refinement.
Output: (dict)
- final_trans: [bs, 4, 4], the predicted transformation matrix.
- final_labels: [bs, num_corr], the predicted inlier/outlier label (0,1), for classification loss calculation.
- M: [bs, num_corr, num_corr], feature similarity matrix, for SM loss calculation.
- seed_trans: [bs, num_seeds, 4, 4], the predicted transformation matrix associated with each seeding point, deprecated.
- corr_features: [bs, num_corr, num_channels], the feature for each correspondence, for circle loss calculation, deprecated.
- confidence: [bs], confidence of returned results, for safe guard, deprecated.
"""
corr_pos, src_keypts, tgt_keypts = data['corr_pos'], data['src_keypts'], data['tgt_keypts']
bs, num_corr = corr_pos.shape[0], corr_pos.shape[1]
testing = 'testing' in data.keys()
#################################
# Step1: extract feature for each correspondence
#################################
with torch.no_grad():
src_dist = torch.norm((src_keypts[:, :, None, :] - src_keypts[:, None, :, :]), dim=-1)
corr_compatibility = src_dist - torch.norm((tgt_keypts[:, :, None, :] - tgt_keypts[:, None, :, :]), dim=-1)
corr_compatibility = torch.clamp(1.0 - corr_compatibility ** 2 / self.sigma_spat ** 2, min=0)
corr_features = self.encoder(corr_pos.permute(0,2,1), corr_compatibility).permute(0, 2, 1)
normed_corr_features = F.normalize(corr_features, p=2, dim=-1)
if not testing: # during training or validation
# construct the feature similarity matrix M for loss calculation
M = torch.matmul(normed_corr_features, normed_corr_features.permute(0, 2, 1))
M = torch.clamp(1 - (1 - M) / self.sigma ** 2, min=0, max=1)
# set diagnal of M to zero
M[:, torch.arange(M.shape[1]), torch.arange(M.shape[1])] = 0
else:
M = None
#################################
# Step 2.1: estimate initial confidence by MLP, find highly confident and well-distributed points as seeds.
#################################
# confidence = self.cal_leading_eigenvector(M.to(corr_pos.device), method='power')
confidence = self.classification(corr_features.permute(0, 2, 1)).squeeze(1)
if testing:
seeds = self.pick_seeds(src_dist, confidence, R=self.nms_radius, max_num=int(num_corr * self.ratio))
else:
seeds = torch.argsort(confidence, dim=1, descending=True)[:, 0:int(num_corr * self.ratio)]
#################################
# Step 3 & 4: calculate transformation matrix for each seed, and find the best hypothesis.
#################################
seed_trans, seed_fitness, final_trans, final_labels = self.cal_seed_trans(seeds, normed_corr_features, src_keypts, tgt_keypts)
# post refinement (only used during testing and bs == 1)
if testing:
final_trans = self.post_refinement(final_trans, src_keypts, tgt_keypts)
## during training, return the initial confidence as logits for classification loss
## during testing, return the final labels given by final transformation.
if not testing:
final_labels = confidence
res = {
"final_trans": final_trans,
"final_labels": final_labels,
"M": M
}
return res
def pick_seeds(self, dists, scores, R, max_num):
"""
Select seeding points using Non Maximum Suppression. (here we only support bs=1)
Input:
- dists: [bs, num_corr, num_corr] src keypoints distance matrix
- scores: [bs, num_corr] initial confidence of each correspondence
- R: float radius of nms
- max_num: int maximum number of returned seeds
Output:
- picked_seeds: [bs, num_seeds] the index to the seeding correspondences
"""
assert scores.shape[0] == 1
# parallel Non Maximum Suppression (more efficient)
score_relation = scores.T >= scores # [num_corr, num_corr], save the relation of leading_eig
# score_relation[dists[0] >= R] = 1 # mask out the non-neighborhood node
score_relation = score_relation.bool() | (dists[0] >= R).bool()
is_local_max = score_relation.min(-1)[0].float()
return torch.argsort(scores * is_local_max, dim=1, descending=True)[:, 0:max_num].detach()
# # greedy Non Maximum Suppression
# picked_seeds = []
# selected_mask = torch.zeros_like(scores[0])
# iter_num = 0
# # if all the points are selected or the left points are all outlier, break
# while torch.sum(selected_mask) != selected_mask.shape[0] and torch.sum(leading_eig[0] * (1 - selected_mask)) != 0:
# select_ind = torch.argmax(scores[0] * (1 - selected_mask))
# distance = torch.norm(src_keypts[0] - src_keypts[0, select_ind:select_ind + 1, :], dim=-1)
# selected_mask[distance < R] = 1
# picked_seeds.append(int(select_ind))
# iter_num += 1
# if iter_num > max_num:
# break
# return torch.from_numpy(np.array(picked_seeds))[None, :].to(scores.device)
def cal_seed_trans(self, seeds, corr_features, src_keypts, tgt_keypts):
"""
Calculate the transformation for each seeding correspondences.
Input:
- seeds: [bs, num_seeds] the index to the seeding correspondence
- corr_features: [bs, num_corr, num_channels]
- src_keypts: [bs, num_corr, 3]
- tgt_keypts: [bs, num_corr, 3]
Output: leading eigenvector
- pairwise_trans: [bs, num_seeds, 4, 4] transformation matrix for each seeding point.
- pairwise_fitness: [bs, num_seeds] fitness (inlier ratio) for each seeding point
- final_trans: [bs, 4, 4] best transformation matrix (after post refinement) for each batch.
- final_labels: [bs, num_corr] inlier/outlier label given by best transformation matrix.
"""
bs, num_corr, num_channels = corr_features.shape[0], corr_features.shape[1], corr_features.shape[2]
num_seeds = seeds.shape[-1]
k = min(self.k, num_corr - 1)
knn_idx = knn(corr_features, k=k, ignore_self=True, normalized=True) # [bs, num_corr, k]
knn_idx = knn_idx.gather(dim=1, index=seeds[:, :, None].expand(-1, -1, k)) # [bs, num_seeds, k]
#################################
# construct the feature consistency matrix of each correspondence subset.
#################################
knn_features = corr_features.gather(dim=1, index=knn_idx.view([bs, -1])[:, :, None].expand(-1, -1, num_channels)).view([bs, -1, k, num_channels]) # [bs, num_seeds, k, num_channels]
knn_M = torch.matmul(knn_features, knn_features.permute(0, 1, 3, 2))
knn_M = torch.clamp(1 - (1 - knn_M) / self.sigma ** 2, min=0)
knn_M = knn_M.view([-1, k, k])
feature_knn_M = knn_M
#################################
# construct the spatial consistency matrix of each correspondence subset.
#################################
src_knn = src_keypts.gather(dim=1, index=knn_idx.view([bs, -1])[:, :, None].expand(-1, -1, 3)).view([bs, -1, k, 3]) # [bs, num_seeds, k, 3]
tgt_knn = tgt_keypts.gather(dim=1, index=knn_idx.view([bs, -1])[:, :, None].expand(-1, -1, 3)).view([bs, -1, k, 3])
knn_M = ((src_knn[:, :, :, None, :] - src_knn[:, :, None, :, :]) ** 2).sum(-1) ** 0.5 - ((tgt_knn[:, :, :, None, :] - tgt_knn[:, :, None, :, :]) ** 2).sum(-1) ** 0.5
# knn_M = torch.max(torch.zeros_like(knn_M), 1.0 - knn_M ** 2 / self.sigma_spat ** 2)
knn_M = torch.clamp(1 - knn_M ** 2/ self.sigma_spat ** 2, min=0)
knn_M = knn_M.view([-1, k, k])
spatial_knn_M = knn_M
#################################
# Power iteratation to get the inlier probability
#################################
total_knn_M = feature_knn_M * spatial_knn_M
total_knn_M[:, torch.arange(total_knn_M.shape[1]), torch.arange(total_knn_M.shape[1])] = 0
# total_knn_M = self.gamma * feature_knn_M + (1 - self.gamma) * spatial_knn_M
total_weight = self.cal_leading_eigenvector(total_knn_M, method='power')
total_weight = total_weight.view([bs, -1, k])
total_weight = total_weight / (torch.sum(total_weight, dim=-1, keepdim=True) + 1e-6)
#################################
# calculate the transformation by weighted least-squares for each subsets in parallel
#################################
total_weight = total_weight.view([-1, k])
src_knn = src_keypts.gather(dim=1, index=knn_idx.view([bs, -1])[:, :, None].expand(-1, -1, 3)).view([bs, -1, k, 3]) # [bs, num_seeds, k, 3]
tgt_knn = tgt_keypts.gather(dim=1, index=knn_idx.view([bs, -1])[:, :, None].expand(-1, -1, 3)).view([bs, -1, k, 3]) # [bs, num_seeds, k, 3]
src_knn, tgt_knn = src_knn.view([-1, k, 3]), tgt_knn.view([-1, k, 3])
seed_as_center = False
if seed_as_center:
# if use seeds as the neighborhood centers
src_center = src_keypts.gather(dim=1, index=seeds[:, :, None].expand(-1, -1, 3)) # [bs, num_seeds, 3]
tgt_center = tgt_keypts.gather(dim=1, index=seeds[:, :, None].expand(-1, -1, 3)) # [bs, num_seeds, 3]
src_center, tgt_center = src_center.view([-1, 3]), tgt_center.view([-1, 3])
src_pts = src_knn[:, :, :, None] - src_center[:, None, :, None] # [bs*num_seeds, k, 3, 1]
tgt_pts = tgt_knn[:, :, :, None] - tgt_center[:, None, :, None] # [bs*num_seeds, k, 3, 1]
cov = torch.einsum('nkmo,nkop->nkmp', src_pts, tgt_pts.permute(0, 1, 3, 2)) # [bs*num_seeds, k, 3, 3]
Covariances = torch.einsum('nkmp,nk->nmp', cov, total_weight) # [bs*num_seeds, 3, 3]
# use svd to recover the transformation for each seeding point, torch.svd is much faster on cpu.
U, S, Vt = torch.svd(Covariances.cpu())
U, S, Vt = U.cuda(), S.cuda(), Vt.cuda()
delta_UV = torch.det(Vt @ U.permute(0, 2, 1))
eye = torch.eye(3)[None, :, :].repeat(U.shape[0], 1, 1).to(U.device)
eye[:, -1, -1] = delta_UV
R = Vt @ eye @ U.permute(0, 2, 1) # [num_pair, 3, 3]
t = tgt_center[:, None, :] - src_center[:, None, :] @ R.permute(0, 2, 1) # [num_pair, 1, 3]
seedwise_trans = torch.eye(4)[None, :, :].repeat(R.shape[0], 1, 1).to(R.device)
seedwise_trans[:, 0:3, 0:3] = R.permute(0, 2, 1)
seedwise_trans[:, 0:3, 3:4] = t.permute(0, 2, 1)
seedwise_trans = seedwise_trans.view([bs, -1, 4, 4])
else:
# not use seeds as neighborhood centers.
seedwise_trans = rigid_transform_3d(src_knn, tgt_knn, total_weight)
seedwise_trans = seedwise_trans.view([bs, -1, 4, 4])
#################################
# calculate the inlier number for each hypothesis, and find the best transformation for each point cloud pair
#################################
pred_position = torch.einsum('bsnm,bmk->bsnk', seedwise_trans[:, :, :3, :3], src_keypts.permute(0,2,1)) + seedwise_trans[:, :, :3, 3:4] # [bs, num_seeds, num_corr, 3]
pred_position = pred_position.permute(0,1,3,2)
L2_dis = torch.norm(pred_position - tgt_keypts[:, None, :, :], dim=-1) # [bs, num_seeds, num_corr]
seedwise_fitness = torch.mean((L2_dis < self.inlier_threshold).float(), dim=-1) # [bs, num_seeds]
# seedwise_inlier_rmse = torch.sum(L2_dis * (L2_dis < config.inlier_threshold).float(), dim=1)
batch_best_guess = seedwise_fitness.argmax(dim=1)
# refine the pose by using all the inlier correspondences (done in the post-refinement step)
final_trans = seedwise_trans.gather(dim=1, index=batch_best_guess[:, None, None, None].expand(-1, -1, 4, 4)).squeeze(1)
final_labels = L2_dis.gather(dim=1, index=batch_best_guess[:, None, None].expand(-1, -1, L2_dis.shape[2])).squeeze(1)
final_labels = (final_labels < self.inlier_threshold).float()
return seedwise_trans, seedwise_fitness, final_trans, final_labels
def cal_leading_eigenvector(self, M, method='power'):
"""
Calculate the leading eigenvector using power iteration algorithm or torch.symeig
Input:
- M: [bs, num_corr, num_corr] the compatibility matrix
- method: select different method for calculating the learding eigenvector.
Output:
- solution: [bs, num_corr] leading eigenvector
"""
if method == 'power':
# power iteration algorithm
leading_eig = torch.ones_like(M[:, :, 0:1])
leading_eig_last = leading_eig
for i in range(self.num_iterations):
leading_eig = torch.bmm(M, leading_eig)
leading_eig = leading_eig / (torch.norm(leading_eig, dim=1, keepdim=True) + 1e-6)
if torch.allclose(leading_eig, leading_eig_last):
break
leading_eig_last = leading_eig
leading_eig = leading_eig.squeeze(-1)
return leading_eig
elif method == 'eig': # cause NaN during back-prop
e, v = torch.symeig(M, eigenvectors=True)
leading_eig = v[:, :, -1]
return leading_eig
else:
exit(-1)
def cal_confidence(self, M, leading_eig, method='eig_value'):
"""
Calculate the confidence of the spectral matching solution based on spectral analysis.
Input:
- M: [bs, num_corr, num_corr] the compatibility matrix
- leading_eig [bs, num_corr] the leading eigenvector of matrix M
Output:
- confidence
"""
if method == 'eig_value':
# max eigenvalue as the confidence (Rayleigh quotient)
max_eig_value = (leading_eig[:, None, :] @ M @ leading_eig[:, :, None]) / (leading_eig[:, None, :] @ leading_eig[:, :, None])
confidence = max_eig_value.squeeze(-1)
return confidence
elif method == 'eig_value_ratio':
# max eigenvalue / second max eigenvalue as the confidence
max_eig_value = (leading_eig[:, None, :] @ M @ leading_eig[:, :, None]) / (leading_eig[:, None, :] @ leading_eig[:, :, None])
# compute the second largest eigen-value
B = M - max_eig_value * leading_eig[:, :, None] @ leading_eig[:, None, :]
solution = torch.ones_like(B[:, :, 0:1])
for i in range(self.num_iterations):
solution = torch.bmm(B, solution)
solution = solution / (torch.norm(solution, dim=1, keepdim=True) + 1e-6)
solution = solution.squeeze(-1)
second_eig = solution
second_eig_value = (second_eig[:, None, :] @ B @ second_eig[:, :, None]) / (second_eig[:, None, :] @ second_eig[:, :, None])
confidence = max_eig_value / second_eig_value
return confidence
elif method == 'xMx':
# max xMx as the confidence (x is the binary solution)
# rank = torch.argsort(leading_eig, dim=1, descending=True)[:, 0:int(M.shape[1]*self.ratio)]
# binary_sol = torch.zeros_like(leading_eig)
# binary_sol[0, rank[0]] = 1
confidence = leading_eig[:, None, :] @ M @ leading_eig[:, :, None]
confidence = confidence.squeeze(-1) / M.shape[1]
return confidence
def post_refinement(self, initial_trans, src_keypts, tgt_keypts, weights=None):
"""
Perform post refinement using the initial transformation matrix, only adopted during testing.
Input
- initial_trans: [bs, 4, 4]
- src_keypts: [bs, num_corr, 3]
- tgt_keypts: [bs, num_corr, 3]
- weights: [bs, num_corr]
Output:
- final_trans: [bs, 4, 4]
"""
assert initial_trans.shape[0] == 1
if self.inlier_threshold == 0.10: # for 3DMatch
inlier_threshold_list = [0.10] * 20
else: # for KITTI
inlier_threshold_list = [1.2] * 20
previous_inlier_num = 0
for inlier_threshold in inlier_threshold_list:
warped_src_keypts = transform(src_keypts, initial_trans)
L2_dis = torch.norm(warped_src_keypts - tgt_keypts, dim=-1)
pred_inlier = (L2_dis < inlier_threshold)[0] # assume bs = 1
inlier_num = torch.sum(pred_inlier)
if abs(int(inlier_num - previous_inlier_num)) < 1:
break
else:
previous_inlier_num = inlier_num
initial_trans = rigid_transform_3d(
A=src_keypts[:, pred_inlier, :],
B=tgt_keypts[:, pred_inlier, :],
## https://link.springer.com/article/10.1007/s10589-014-9643-2
# weights=None,
weights=1/(1 + (L2_dis/inlier_threshold)**2)[:, pred_inlier],
# weights=((1-L2_dis/inlier_threshold)**2)[:, pred_inlier]
)
return initial_trans