PointsSampler

class mmcv.ops.PointsSampler(num_point: List[int], fps_mod_list: List[str] = ['D-FPS'], fps_sample_range_list: List[int] = [- 1])

Points sampling.

Parameters

• num_point (list[int]) – Number of sample points.

• fps_mod_list (list[str], optional) – Type of FPS method, valid mod [‘F-FPS’, ‘D-FPS’, ‘FS’], Default: [‘D-FPS’]. F-FPS: using feature distances for FPS. D-FPS: using Euclidean distances of points for FPS. FS: using F-FPS and D-FPS simultaneously.

• fps_sample_range_list (list[int], optional) – Range of points to apply FPS. Default: [-1].

forward(points_xyz: torch.Tensor, features: torch.Tensor) → torch.Tensor

Parameters

• points_xyz (torch.Tensor) – (B, N, 3) xyz coordinates of the points.

• features (torch.Tensor) – (B, C, N) features of the points.

Returns

(B, npoint, sample_num) Indices of sampled points.

Return type

torch.Tensor