Add cat_union

MinkowskiEngine/MinkowskiOps.py

@@ -77,3 +77,54 @@ def cat(*sparse_tensors):
         torch.cat(tens, dim=1),
         coords_key=sparse_tensors[0].coords_key,
         coords_manager=coords_man)
+
+
+def cat_union(A, B):
+    r"""Concatenate sparse tensors (different sparsity)
+
+    Concatenate sparse tensor features with different sparsity patterns. All sparse tensors must have the same
+    `coords_man` (does not need the same coordinates). If the coordinate is matched, corresponding features 
+    are concatenated, otherwise, the zero features are concatenated to original features.
+
+    Example::
+
+       >>> import MinkowskiEngine as ME
+       >>> import torch
+       >>> feats1 = torch.zeros(3, 3) + 1
+       >>> coords1 = torch.Tensor([[0,0,0], [0,0,1], [0,1,0]])
+       >>> feats2 = torch.zeros(4, 3) + 2
+       >>> coords2 = torch.Tensor([[0,0,0], [0,0,1], [0,1,0], [1,1,1]])
+       >>> a = ME.SparseTensor(feats1, coords1)
+       >>> b = ME.SparseTensor(feats2, coords2, coords_manager=a.coords_man, force_creation=True)
+       >>> result = ME.cat_union(a, b) # the coordinates are 'coords2' and the feature is  [0,0,0,2,2,2]
+                                       # the feature of coordinate [1,1,1] is [0,0,0,2,2,2]
+
+    """
+
+    cm = A.coords_man
+    assert cm == B.coords_man, "different coords_man"
+    assert A.tensor_stride == B.tensor_stride, "different tensor_stride"
+
+    zeros_cat_with_A = torch.zeros([A.F.shape[0], B.F.shape[1]]).to(A.device)
+    zeros_cat_with_B = torch.zeros([B.F.shape[0], A.F.shape[1]]).to(A.device)
+
+    feats_A = torch.cat([A.F, zeros_cat_with_A], dim=1)
+    feats_B = torch.cat([zeros_cat_with_B, B.F], dim=1)
+
+    new_A = SparseTensor(
+        feats=feats_A,
+        coords=A.C,
+        coords_manager=cm,
+        force_creation=True,
+        tensor_stride=A.tensor_stride,
+    )
+
+    new_B = SparseTensor(
+        feats=feats_B,
+        coords=B.C,
+        coords_manager=cm,
+        force_creation=True,
+        tensor_stride=A.tensor_stride,
+    )
+
+    return new_A + new_B

MinkowskiEngine/__init__.py

@@ -72,7 +72,7 @@
 
 import MinkowskiOps
 
-from MinkowskiOps import MinkowskiLinear, cat
+from MinkowskiOps import MinkowskiLinear, cat, cat_union
 
 import MinkowskiFunctional