文章就不介绍了,这里主要说代码。
PointNet++是PointNet的升级版本,主要增加了对局部信息的感知能力。体现到代码上的话,变化还是比较多的,我们以分类为例,对二者的实现代码进行对比分析。
首先是网络结构方面,PointNet:
def get_model(point_cloud, is_training, bn_decay=None):
""" Classification PointNet, input is BxNx3, output Bx40 """
batch_size = point_cloud.get_shape()[0].value
num_point = point_cloud.get_shape()[1].value
end_points = {}
with tf.variable_scope('transform_net1') as sc:
transform = input_transform_net(point_cloud, is_training, bn_decay, K=3)
point_cloud_transformed = tf.matmul(point_cloud, transform)
input_image = tf.expand_dims(point_cloud_transformed, -1)#在最后增加一个维度
net = tf_util.conv2d(input_image, 64, [1,3],
padding='VALID', stride=[1,1],
bn=True, is_t