ME collation

Author: chrischoy

lib/transforms.py

@@ -7,6 +7,8 @@
 import scipy.interpolate
 import torch
 
+import MinkowskiEngine as ME
+
 
 # A sparse tensor consists of coordinates and associated features.
 # You must apply augmentation to both.
@@ -260,19 +262,15 @@ def __call__(self, list_data):
             f'limit. Truncating batch size at {batch_id} out of {num_full_batch_size} with {batch_num_points - num_points}.'
         )
         break
-      coords_batch.append(
-          torch.cat((torch.from_numpy(
-              coords[batch_id]).int(), torch.ones(num_points, 1).int() * batch_id), 1))
+      coords_batch.append(torch.from_numpy(coords[batch_id]).int())
       feats_batch.append(torch.from_numpy(feats[batch_id]))
       labels_batch.append(torch.from_numpy(labels[batch_id]).int())
 
       batch_id += 1
 
     # Concatenate all lists
-    coords_batch = torch.cat(coords_batch, 0).int()
-    feats_batch = torch.cat(feats_batch, 0).float()
-    labels_batch = torch.cat(labels_batch, 0).int()
-    return coords_batch, feats_batch, labels_batch
+    coords_batch, feats_batch, labels_batch = ME.utils.sparse_collate(coords_batch, feats_batch, labels_batch)
+    return coords_batch, feats_batch.float(), labels_batch
 
 
 class cflt_collate_fn_factory:
@@ -293,16 +291,11 @@ def __call__(self, list_data):
     num_truncated_batch = coords_batch[:, -1].max().item() + 1
 
     batch_id = 0
-    pointclouds_batch, transformations_batch = [], []
+    transformations_batch = []
     for transformation in transformations:
       if batch_id >= num_truncated_batch:
         break
-      transformations_batch.append(
-          torch.cat(
-              (torch.from_numpy(transformation), torch.ones(transformation.shape[0], 1) * batch_id),
-              1))
+      transformations_batch.append(torch.from_numpy(transformation).float())
       batch_id += 1
 
-    pointclouds_batch = torch.cat(pointclouds_batch, 0).float()
-    transformations_batch = torch.cat(transformations_batch, 0).float()
     return coords_batch, feats_batch, labels_batch, transformations_batch