SYMBOL INDEX (195 symbols across 29 files)

FILE: dataset/graspnet_dataset.py
  class GraspNetDataset (line 18) | class GraspNetDataset(Dataset):
    method __init__ (line 19) | def __init__(self, root, grasp_labels=None, camera='kinect', split='tr...
    method scene_list (line 65) | def scene_list(self):
    method __len__ (line 68) | def __len__(self):
    method augment_data (line 71) | def augment_data(self, point_clouds, object_poses_list):
    method __getitem__ (line 93) | def __getitem__(self, index):
    method get_data (line 99) | def get_data(self, index, return_raw_cloud=False):
    method get_data_label (line 145) | def get_data_label(self, index):
  function load_grasp_labels (line 226) | def load_grasp_labels(root):
  function minkowski_collate_fn (line 237) | def minkowski_collate_fn(list_data):

FILE: dataset/simplify_dataset.py
  function simplify_grasp_labels (line 10) | def simplify_grasp_labels(root, save_path):

FILE: infer_vis_grasp.py
  function data_process (line 43) | def data_process():
  function my_worker_init_fn (line 87) | def my_worker_init_fn(worker_id):
  function inference (line 92) | def inference(data_input):

FILE: knn/knn_modules.py
  function knn (line 9) | def knn(ref, query, k=1):

FILE: knn/setup.py
  function get_extensions (line 16) | def get_extensions():

FILE: knn/src/cpu/knn_cpu.cpp
  function knn_cpu (line 4) | void knn_cpu(float* ref_dev, int ref_width, float* query_dev, int query_...

FILE: knn/src/knn.h
  function knn (line 12) | int knn(at::Tensor& ref, at::Tensor& query, at::Tensor& idx)

FILE: knn/src/vision.cpp
  function PYBIND11_MODULE (line 3) | PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {

FILE: models/backbone_resunet14.py
  class MinkUNetBase (line 6) | class MinkUNetBase(ResNetBase):
    method __init__ (line 18) | def __init__(self, in_channels, out_channels, D=3):
    method network_initialization (line 21) | def network_initialization(self, in_channels, out_channels, D):
    method forward (line 93) | def forward(self, x):
  class MinkUNet14 (line 154) | class MinkUNet14(MinkUNetBase):
  class MinkUNet18 (line 159) | class MinkUNet18(MinkUNetBase):
  class MinkUNet34 (line 164) | class MinkUNet34(MinkUNetBase):
  class MinkUNet50 (line 169) | class MinkUNet50(MinkUNetBase):
  class MinkUNet101 (line 174) | class MinkUNet101(MinkUNetBase):
  class MinkUNet14A (line 179) | class MinkUNet14A(MinkUNet14):
  class MinkUNet14B (line 183) | class MinkUNet14B(MinkUNet14):
  class MinkUNet14C (line 187) | class MinkUNet14C(MinkUNet14):
  class MinkUNet14Dori (line 191) | class MinkUNet14Dori(MinkUNet14):
  class MinkUNet14E (line 195) | class MinkUNet14E(MinkUNet14):
  class MinkUNet14D (line 199) | class MinkUNet14D(MinkUNet14):
  class MinkUNet18A (line 203) | class MinkUNet18A(MinkUNet18):
  class MinkUNet18B (line 207) | class MinkUNet18B(MinkUNet18):
  class MinkUNet18D (line 211) | class MinkUNet18D(MinkUNet18):
  class MinkUNet34A (line 215) | class MinkUNet34A(MinkUNet34):
  class MinkUNet34B (line 219) | class MinkUNet34B(MinkUNet34):
  class MinkUNet34C (line 223) | class MinkUNet34C(MinkUNet34):

FILE: models/graspnet.py
  class GraspNet (line 23) | class GraspNet(nn.Module):
    method __init__ (line 24) | def __init__(self, cylinder_radius=0.05, seed_feat_dim=512, is_trainin...
    method forward (line 39) | def forward(self, end_points):
  function pred_decode (line 96) | def pred_decode(end_points):

FILE: models/loss.py
  function get_loss (line 5) | def get_loss(end_points):
  function compute_objectness_loss (line 16) | def compute_objectness_loss(end_points):
  function compute_graspness_loss (line 32) | def compute_graspness_loss(end_points):
  function compute_view_graspness_loss (line 52) | def compute_view_graspness_loss(end_points):
  function compute_score_loss (line 61) | def compute_score_loss(end_points):
  function compute_width_loss (line 71) | def compute_width_loss(end_points):

FILE: models/modules.py
  class GraspableNet (line 16) | class GraspableNet(nn.Module):
    method __init__ (line 17) | def __init__(self, seed_feature_dim):
    method forward (line 22) | def forward(self, seed_features, end_points):
  class ApproachNet (line 29) | class ApproachNet(nn.Module):
    method __init__ (line 30) | def __init__(self, num_view, seed_feature_dim, is_training=True):
    method forward (line 38) | def forward(self, seed_features, end_points):
  class CloudCrop (line 76) | class CloudCrop(nn.Module):
    method __init__ (line 77) | def __init__(self, nsample, seed_feature_dim, cylinder_radius=0.05, hm...
    method forward (line 88) | def forward(self, seed_xyz_graspable, seed_features_graspable, vp_rot):
  class SWADNet (line 97) | class SWADNet(nn.Module):
    method __init__ (line 98) | def __init__(self, num_angle, num_depth):
    method forward (line 106) | def forward(self, vp_features, end_points):

FILE: models/resnet.py
  class ResNetBase (line 12) | class ResNetBase(nn.Module):
    method __init__ (line 18) | def __init__(self, in_channels, out_channels, D=3):
    method network_initialization (line 26) | def network_initialization(self, in_channels, out_channels, D):
    method weight_initialization (line 64) | def weight_initialization(self):
    method _make_layer (line 73) | def _make_layer(self, block, planes, blocks, stride=1, dilation=1, bn_...
    method forward (line 107) | def forward(self, x: ME.SparseTensor):
  class ResNet14 (line 118) | class ResNet14(ResNetBase):
  class ResNet18 (line 123) | class ResNet18(ResNetBase):
  class ResNet34 (line 128) | class ResNet34(ResNetBase):
  class ResNet50 (line 133) | class ResNet50(ResNetBase):
  class ResNet101 (line 138) | class ResNet101(ResNetBase):
  class ResFieldNetBase (line 143) | class ResFieldNetBase(ResNetBase):
    method network_initialization (line 144) | def network_initialization(self, in_channels, out_channels, D):
    method forward (line 168) | def forward(self, x: ME.TensorField):
  class ResFieldNet14 (line 174) | class ResFieldNet14(ResFieldNetBase):
  class ResFieldNet18 (line 179) | class ResFieldNet18(ResFieldNetBase):
  class ResFieldNet34 (line 184) | class ResFieldNet34(ResFieldNetBase):
  class ResFieldNet50 (line 189) | class ResFieldNet50(ResFieldNetBase):
  class ResFieldNet101 (line 194) | class ResFieldNet101(ResFieldNetBase):

FILE: pointnet2/_ext_src/include/cuda_utils.h
  function opt_n_threads (line 20) | inline int opt_n_threads(int work_size) {
  function dim3 (line 26) | inline dim3 opt_block_config(int x, int y) {

FILE: pointnet2/_ext_src/src/ball_query.cpp
  function ball_query (line 13) | at::Tensor ball_query(at::Tensor new_xyz, at::Tensor xyz, const float ra...

FILE: pointnet2/_ext_src/src/bindings.cpp
  function PYBIND11_MODULE (line 12) | PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {

FILE: pointnet2/_ext_src/src/cylinder_query.cpp
  function cylinder_query (line 10) | at::Tensor cylinder_query(at::Tensor new_xyz, at::Tensor xyz, at::Tensor...

FILE: pointnet2/_ext_src/src/group_points.cpp
  function group_points (line 17) | at::Tensor group_points(at::Tensor points, at::Tensor idx) {
  function group_points_grad (line 42) | at::Tensor group_points_grad(at::Tensor grad_out, at::Tensor idx, const ...

FILE: pointnet2/_ext_src/src/interpolate.cpp
  function three_nn (line 19) | std::vector<at::Tensor> three_nn(at::Tensor unknowns, at::Tensor knows) {
  function three_interpolate (line 47) | at::Tensor three_interpolate(at::Tensor points, at::Tensor idx,
  function three_interpolate_grad (line 76) | at::Tensor three_interpolate_grad(at::Tensor grad_out, at::Tensor idx,

FILE: pointnet2/_ext_src/src/sampling.cpp
  function gather_points (line 20) | at::Tensor gather_points(at::Tensor points, at::Tensor idx) {
  function gather_points_grad (line 45) | at::Tensor gather_points_grad(at::Tensor grad_out, at::Tensor idx,
  function furthest_point_sampling (line 70) | at::Tensor furthest_point_sampling(at::Tensor points, const int nsamples) {

FILE: pointnet2/pointnet2_modules.py
  class _PointnetSAModuleBase (line 26) | class _PointnetSAModuleBase(nn.Module):
    method __init__ (line 28) | def __init__(self):
    method forward (line 34) | def forward(self, xyz: torch.Tensor,
  class PointnetSAModuleMSG (line 78) | class PointnetSAModuleMSG(_PointnetSAModuleBase):
    method __init__ (line 95) | def __init__(
  class PointnetSAModule (line 127) | class PointnetSAModule(PointnetSAModuleMSG):
    method __init__ (line 144) | def __init__(
  class PointnetSAModuleVotes (line 164) | class PointnetSAModuleVotes(nn.Module):
    method __init__ (line 168) | def __init__(
    method forward (line 210) | def forward(self, xyz: torch.Tensor,
  class PointnetSAModuleMSGVotes (line 274) | class PointnetSAModuleMSGVotes(nn.Module):
    method __init__ (line 278) | def __init__(
    method forward (line 309) | def forward(self, xyz: torch.Tensor,
  class PointnetFPModule (line 356) | class PointnetFPModule(nn.Module):
    method __init__ (line 367) | def __init__(self, *, mlp: List[int], bn: bool = True):
    method forward (line 371) | def forward(
  class PointnetLFPModuleMSG (line 418) | class PointnetLFPModuleMSG(nn.Module):
    method __init__ (line 422) | def __init__(
    method forward (line 454) | def forward(self, xyz2: torch.Tensor, xyz1: torch.Tensor,

FILE: pointnet2/pointnet2_utils.py
  class RandomDropout (line 40) | class RandomDropout(nn.Module):
    method __init__ (line 41) | def __init__(self, p=0.5, inplace=False):
    method forward (line 46) | def forward(self, X):
  class FurthestPointSampling (line 51) | class FurthestPointSampling(Function):
    method forward (line 53) | def forward(ctx, xyz, npoint):
    method backward (line 74) | def backward(xyz, a=None):
  class GatherOperation (line 81) | class GatherOperation(Function):
    method forward (line 83) | def forward(ctx, features, idx):
    method backward (line 108) | def backward(ctx, grad_out):
  class ThreeNN (line 118) | class ThreeNN(Function):
    method forward (line 120) | def forward(ctx, unknown, known):
    method backward (line 143) | def backward(ctx, a=None, b=None):
  class ThreeInterpolate (line 150) | class ThreeInterpolate(Function):
    method forward (line 152) | def forward(ctx, features, idx, weight):
    method backward (line 178) | def backward(ctx, grad_out):
  class GroupingOperation (line 207) | class GroupingOperation(Function):
    method forward (line 209) | def forward(ctx, features, idx):
    method backward (line 233) | def backward(ctx, grad_out):
  class BallQuery (line 258) | class BallQuery(Function):
    method forward (line 260) | def forward(ctx, radius, nsample, xyz, new_xyz):
    method backward (line 283) | def backward(ctx, a=None):
  class QueryAndGroup (line 290) | class QueryAndGroup(nn.Module):
    method __init__ (line 302) | def __init__(self, radius, nsample, use_xyz=True, ret_grouped_xyz=Fals...
    method forward (line 313) | def forward(self, xyz, new_xyz, features=None):
  class GroupAll (line 375) | class GroupAll(nn.Module):
    method __init__ (line 383) | def __init__(self, use_xyz=True, ret_grouped_xyz=False):
    method forward (line 388) | def forward(self, xyz, new_xyz, features=None):
  class CylinderQuery (line 424) | class CylinderQuery(Function):
    method forward (line 426) | def forward(ctx, radius, hmin, hmax, nsample, xyz, new_xyz, rot):
    method backward (line 454) | def backward(ctx, a=None):
  class CylinderQueryAndGroup (line 461) | class CylinderQueryAndGroup(nn.Module):
    method __init__ (line 475) | def __init__(self, radius, hmin, hmax, nsample, use_xyz=True, ret_grou...
    method forward (line 487) | def forward(self, xyz, new_xyz, rot, features=None):

FILE: pointnet2/pytorch_utils.py
  class SharedMLP (line 11) | class SharedMLP(nn.Sequential):
    method __init__ (line 13) | def __init__(
  class _BNBase (line 39) | class _BNBase(nn.Sequential):
    method __init__ (line 41) | def __init__(self, in_size, batch_norm=None, name=""):
  class BatchNorm1d (line 49) | class BatchNorm1d(_BNBase):
    method __init__ (line 51) | def __init__(self, in_size: int, *, name: str = ""):
  class BatchNorm2d (line 55) | class BatchNorm2d(_BNBase):
    method __init__ (line 57) | def __init__(self, in_size: int, name: str = ""):
  class BatchNorm3d (line 61) | class BatchNorm3d(_BNBase):
    method __init__ (line 63) | def __init__(self, in_size: int, name: str = ""):
  class _ConvBase (line 67) | class _ConvBase(nn.Sequential):
    method __init__ (line 69) | def __init__(
  class Conv1d (line 123) | class Conv1d(_ConvBase):
    method __init__ (line 125) | def __init__(
  class Conv2d (line 157) | class Conv2d(_ConvBase):
    method __init__ (line 159) | def __init__(
  class Conv3d (line 191) | class Conv3d(_ConvBase):
    method __init__ (line 193) | def __init__(
  class FC (line 225) | class FC(nn.Sequential):
    method __init__ (line 227) | def __init__(
  function set_bn_momentum_default (line 262) | def set_bn_momentum_default(bn_momentum):
  class BNMomentumScheduler (line 271) | class BNMomentumScheduler(object):
    method __init__ (line 273) | def __init__(
    method step (line 291) | def step(self, epoch=None):

FILE: test.py
  function my_worker_init_fn (line 42) | def my_worker_init_fn(worker_id):
  function inference (line 47) | def inference():
  function evaluate (line 108) | def evaluate(dump_dir):

FILE: train.py
  function log_string (line 46) | def log_string(out_str):
  function my_worker_init_fn (line 53) | def my_worker_init_fn(worker_id):
  function get_current_lr (line 83) | def get_current_lr(epoch):
  function adjust_learning_rate (line 89) | def adjust_learning_rate(optimizer, epoch):
  function train_one_epoch (line 95) | def train_one_epoch():
  function train (line 130) | def train(start_epoch):

FILE: utils/collision_detector.py
  class ModelFreeCollisionDetector (line 10) | class ModelFreeCollisionDetector():
    method __init__ (line 28) | def __init__(self, scene_points, voxel_size=0.005):
    method detect (line 37) | def detect(self, grasp_group, approach_dist=0.03, collision_thresh=0.0...

FILE: utils/data_utils.py
  class CameraInfo (line 8) | class CameraInfo():
    method __init__ (line 11) | def __init__(self, width, height, fx, fy, cx, cy, scale):
  function create_point_cloud_from_depth_image (line 21) | def create_point_cloud_from_depth_image(depth, camera, organized=True):
  function transform_point_cloud (line 49) | def transform_point_cloud(cloud, transform, format='4x4'):
  function compute_point_dists (line 78) | def compute_point_dists(A, B):
  function remove_invisible_grasp_points (line 97) | def remove_invisible_grasp_points(cloud, grasp_points, pose, th=0.01):
  function get_workspace_mask (line 121) | def get_workspace_mask(cloud, seg, trans=None, organized=True, outlier=0):

FILE: utils/label_generation.py
  function process_grasp_labels (line 19) | def process_grasp_labels(end_points):
  function match_grasp_view_and_label (line 119) | def match_grasp_view_and_label(end_points):

FILE: utils/loss_utils.py
  function transform_point_cloud (line 16) | def transform_point_cloud(cloud, transform, format='4x4'):
  function generate_grasp_views (line 45) | def generate_grasp_views(N=300, phi=(np.sqrt(5) - 1) / 2, center=np.zero...
  function batch_viewpoint_params_to_matrix (line 73) | def batch_viewpoint_params_to_matrix(batch_towards, batch_angle):
  function huber_loss (line 104) | def huber_loss(error, delta=1.0):