803d7e1fc61536c846c811bdee158bd21db36779,models/Pointnet2SemSeg.py,Pointnet2SSG,__init__,#Pointnet2SSG#,41

Before Change

            npoint=16, radius=0.8, nsample=32, mlp=[256 + 3, 256, 256, 512])

        self.FP_module0 = PointnetFPModule(mlp=[512 + 256, 256, 256])
        self.FP_module1 = PointnetFPModule(mlp=[256 + 128, 256, 256])
        self.FP_module2 = PointnetFPModule(mlp=[256 + 64, 256, 128])
        self.FP_module3 = PointnetFPModule(mlp=[128 + 6, 128, 128, 128])

        self.FC_layer = nn.Sequential(
            pt_utils.Conv1d(128, 128, bn=True), nn.Dropout(),

After Change

        self.initial_dropout = RandomDropout(0.4)

        self.SA_modules = nn.ModuleList()
        self.SA_modules.append(
            PointnetSAModule(
                npoint=1024,
                radius=0.1,
                nsample=32,
                mlp=[input_channels, 32, 32, 64]))
        self.SA_modules.append(
            PointnetSAModule(
                npoint=256, radius=0.2, nsample=32, mlp=[64 + 3, 64, 64, 128]))
        self.SA_modules.append(
            PointnetSAModule(
                npoint=64,
                radius=0.4,
                nsample=32,
                mlp=[128 + 3, 128, 128, 256]))
        self.SA_modules.append(
            PointnetSAModule(
                npoint=16,
                radius=0.8,
                nsample=32,
                mlp=[256 + 3, 256, 256, 512]))

        self.FP_modules = nn.ModuleList()
        self.FP_modules.append(PointnetFPModule(mlp=[128 + input_channels - 3, 128, 128, 128]))
        self.FP_modules.append(PointnetFPModule(mlp=[256 + 64, 256, 128]))
        self.FP_modules.append(PointnetFPModule(mlp=[256 + 128, 256, 256]))
        self.FP_modules.append(PointnetFPModule(mlp=[512 + 256, 256, 256]))

        self.FC_layer = nn.Sequential(
            pt_utils.Conv1d(128, 128, bn=True), nn.Dropout(),

Instances