三维点云课程—PointNet-Pytorch运行
三维点云课程---PointNet-Pytorch运行
PointNet 源码下载地址:https://github.com/fxia22/pointnet.pytorch
源代码存在一些问题，喜欢折腾的小伙伴可以继续往下看，不喜欢的话，我也会在文章的最后给出我调试好的PointNet_Pytorch的包，直接运行即可。
Windows10的环境
python==3.7.4
torch==1.6.0
cuda=10.1
cudnn=8.0
PointNet包安装
cd pointnet.pytorch-master
pip install -e .
再通过pip list查看终端有没有PointNet包
数据集为shapenet类型
1.分类—Classification
1.1训练
在 pointnet.pytorch-master/utils文件夹下，通过快捷键打开终端:按住Ctrl+L，输入cmd回车，就会快速打开cmd窗口，且定位到该文件夹下。在终端输入
python train_classification.py --dataset=E:\PointNet\pointnet.pytorch-master\pointnet.pytorch-master\shapenetcore_partanno_segmentation_benchmark_v0\ --nepoch=4 --dataset_type=shapenet
不出问题的话，终端开始进行训练，在10个train进行test。出现以下的情况表示训练结束了
此时在该文件夹下会产生分类模型文件夹cls
1.2 分类训练可能出现的问题
报错1: Detected call oflr_scheduler.step()beforeoptimizer.step()`
参考:https://blog.csdn.net/zfjBIT/article/details/105114526
解决方案： 将train_classification.py下的代码 scheduler.step()（在for epoch in range(opt.nepoch)下方)放在每次epoch训练完成之后。更改代码如下
for epoch in range(opt.nepoch):
#scheduler.step()
for i, data in enumerate(dataloader, 0):
points, target = data
target = target[:, 0]
points = points.transpose(2, 1)
points, target = points.cuda(), target.cuda()
optimizer.zero_grad()
classifier = classifier.train()
pred, trans, trans_feat = classifier(points)
loss = F.nll_loss(pred, target)
if opt.feature_transform:
loss += feature_transform_regularizer(trans_feat) * 0.001
loss.backward()
optimizer.step()
pred_choice = pred.data.max(1)[1]
correct = pred_choice.eq(target.data).cpu().sum()
print('[%d: %d/%d] train loss: %f accuracy: %f' % (epoch, i, num_batch, loss.item(), correct.item() / float(opt.batchSize)))
if i % 10 == 0:
j, data = next(enumerate(testdataloader, 0))
points, target = data
target = target[:, 0]
points = points.transpose(2, 1)
points, target = points.cuda(), target.cuda()
classifier = classifier.eval()
pred, _, _ = classifier(points)
loss = F.nll_loss(pred, target)
pred_choice = pred.data.max(1)[1]
correct = pred_choice.eq(target.data).cpu().sum()
print('[%d: %d/%d] %s loss: %f accuracy: %f' % (epoch, i, num_batch, blue('test'), loss.item(), correct.item()/float(opt.batchSize)))
scheduler.step()
torch.save(classifier.state_dict(), '%s/cls_model_%d.pth' % (opt.outf, epoch))
报错2：The "freeze_support()" line can be omitted if the program is not going to be frozen to produce an executable.
参考：https://blog.csdn.net/zfjBIT/article/details/105117206
解决方案:将你要运行的代码放到main函数中运行即可，train_classification.py代码更改如下
if __name__=='__main__':
optimizer = optim.Adam(classifier.parameters(), lr=0.001, betas=(0.9, 0.999))
scheduler = optim.lr_scheduler.StepLR(optimizer, step_size=20, gamma=0.5)
classifier.cuda()
num_batch = len(dataset) / opt.batchSize
for epoch in range(opt.nepoch):
#scheduler.step()
for i, data in enumerate(dataloader, 0):
points, target = data
target = target[:, 0]
points = points.transpose(2, 1)
points, target = points.cuda(), target.cuda()
optimizer.zero_grad()
classifier = classifier.train()
pred, trans, trans_feat = classifier(points)
loss = F.nll_loss(pred, target)
if opt.feature_transform:
loss += feature_transform_regularizer(trans_feat) * 0.001
loss.backward()
optimizer.step()
pred_choice = pred.data.max(1)[1]
correct = pred_choice.eq(target.data).cpu().sum()
print('[%d: %d/%d] train loss: %f accuracy: %f' % (epoch, i, num_batch, loss.item(), correct.item() / float(opt.batchSize)))
if i % 10 == 0:
j, data = next(enumerate(testdataloader, 0))
points, target = data
target = target[:, 0]
points = points.transpose(2, 1)
points, target = points.cuda(), target.cuda()
classifier = classifier.eval()
pred, _, _ = classifier(points)
loss = F.nll_loss(pred, target)
pred_choice = pred.data.max(1)[1]
correct = pred_choice.eq(target.data).cpu().sum()
print('[%d: %d/%d] %s loss: %f accuracy: %f' % (epoch, i, num_batch, blue('test'), loss.item(), correct.item()/float(opt.batchSize)))
scheduler.step()
torch.save(classifier.state_dict(), '%s/cls_model_%d.pth' % (opt.outf, epoch))
total_correct = 0
total_testset = 0
for i,data in tqdm(enumerate(testdataloader, 0)):
points, target = data
target = target[:, 0]
points = points.transpose(2, 1)
points, target = points.cuda(), target.cuda()
classifier = classifier.eval()
pred, _, _ = classifier(points)
pred_choice = pred.data.max(1)[1]
correct = pred_choice.eq(target.data).cpu().sum()
total_correct += correct.item()
total_testset += points.size()[0]
print("final accuracy {}".format(total_correct / float(total_testset)))
报错3：PermissionError: [WinError 5] 拒绝访问
解决方案:将训练的workers改为0（默认为4），师妹说这是关于线程的，windows10下改为0没有影响，起作用是在linux下的(我深度学习纯小白)，代码更改如下
parser.add_argument(
'--workers', type=int, help='number of data loading workers', default=0) #4
报错4:如果在运行过程中，提示内存不够的问题
**解决方案：**将batchsize调小一点即可(默认是32，改为8即可),代码更改如下
parser.add_argument(
'--batchSize', type=int, default=8 ,help='input batch size') #32
报错5：输入指令后，程序没报错也没有任何响应，正常情况下确实有点慢，但是半天没反应，说明代码出现了问题，这是个隐藏的Bug，我当时也折腾了好几天才解决这个问题。
解决方案: 需要在pytorch引入入drop_last=True参数。代码更改如下。关于drop_last的作用，参考:https://www.jb51.net/article/178398.htm
dataloader = torch.utils.data.DataLoader(
dataset,
batch_size=opt.batchSize,
shuffle=True,
num_workers=int(opt.workers)
,drop_last=True) ##很重要
以上就是我在分类时遇到的问题，可能你和我遇到的不一样，到时候多百度百度。
1.3测试分类后的模型文件
在pointnet.pytorch-master/utils文件夹下输入
python show_cls.py --model cls/cls_model_0.pth
正常情况下，终端开始打印
1.4测试分类时源码可能遇到的问题
1.出现FileNotFoundError: [Errno 2] No such file or directory: 'shapenetcore_partanno_segmentation_benchmark_v0/synsetoffset2category.txt'
解决方案
实际上是有这个文件的。查看show_cls.py，发现此处root位置为：
root='shapenetcore_partanno_segmentation_benchmark_v0',
需要将路径改为绝对路径：
root='E:\PointNet\pointnet.pytorch-master\pointnet.pytorch-master\shapenetcore_partanno_segmentation_benchmark_v0',
参考:https://www.it610.com/article/1279162735334014976.htm这个博主解决了我大部分问题，嘻嘻。
2.但此时的accuracy都是0。需要修改show_cls.py中的代码：
#correct = pred_choice.eq(target.data).cpu().sum()
correct = target.eq(pred_choice.data).cpu().sum().data.numpy()
此处参考：https://github.com/fxia22/pointnet.pytorch/issues/29
2.分割—Segmentation
2.1训练
在pointnet.pytorch-master/utils文件夹下输入
python train_segmentation.py --dataset=E:\PointNet\pointnet.pytorch-master\pointnet.pytorch-master\shapenetcore_partanno_segmentation_benchmark_v0 --nepoch=5 --class_choice=Chair
正常情况下，终端开始进行训练了，出现下图，表示训练结束了，且在utils文件夹下参数seg模型文件夹
2.2分割训练可能出现的问题
代码的修改"参考1.2的分类训练可能出现的问题",这里就不赘述了。
2.3测试分类后的模型文件
在pointnet.pytorch-master/utils文件夹下输入
python show_seg.py --model seg/seg_model_Chair_3.pth --class_choice Airplane
正常情况下,会显示如下
在该指令下，Airplane可以替换成训练好的其他类别。在该图片下也有一些人机交互的快捷键。
q:退出程序，程序是死循环的，强制是关不掉的
t+q：变换颜色
n：放大
m:缩小
r：恢复原状
s:保存图片
具体的快捷键的设置查看show3d_balls.py
2.4测试分类时源码可能遇到的问题
1.出现FileNotFoundError: [Errno 2] 没有那个文件或目录: '~/dengjie/Paper/PointNet/pointnet.pytorch/shapenetcore_partanno_segmentation_benchmark_v0/synsetoffset2category.txt'
解决方案
#root=opt.dataset,
root='/home/dengjie/dengjie/Paper/PointNet/pointnet.pytorch/shapenetcore_partanno_segmentation_benchmark_v0',
2.如果执行以上的指令出现
因为show_seg.py调用show3d_balls.py，而show3d_balls.py使用render_balls_so的库
dll = np.ctypeslib.load_library('render_balls_so', '.'),需要重新生成dll，替换原文件的dll。
参考：https://blog.csdn.net/weixin_43978293/article/details/116175134
具体操作如下
用VS新建一个dll动态链接库工程，头文件为dlltest.h,源文件为dllmain.cpp，编译成功后在\x64\Debug文件夹下有一个render_balls_so.dll，替换即可。
dlltest.h
#include <cstdio>
#include <vector>
#include <algorithm>
#include <math.h>
using namespace std;
struct PointInfo {
int x, y, z;
float r, g, b;
};
extern "C" __declspec(dllexport) void render_ball(int h, int w, unsigned char * show, int n, int * xyzs, float * c0, float * c1, float * c2, int r) {
/*r = max(r, 1);
vector<int> depth(h*w, -2100000000);
vector<PointInfo> pattern;
for (int dx = -r; dx <= r; dx++)
for (int dy = -r; dy <= r; dy++)
if (dx*dx + dy*dy<r*r) {
double dz = sqrt(double(r*r - dx*dx - dy*dy));
PointInfo pinfo;
pinfo.x = dx;
pinfo.y = dy;
pinfo.z = dz;
pinfo.r = dz / r;
pinfo.g = dz / r;
pinfo.b = dz / r;
pattern.push_back(pinfo);
}
double zmin = 0, zmax = 0;
for (int i = 0; i<n; i++) {
if (i == 0) {
zmin = xyzs[i * 3 + 2] - r;
zmax = xyzs[i * 3 + 2] + r;
}
else {
zmin = min(zmin, double(xyzs[i * 3 + 2] - r));
zmax = max(zmax, double(xyzs[i * 3 + 2] + r));
}
}
for (int i = 0; i<n; i++) {
int x = xyzs[i * 3 + 0], y = xyzs[i * 3 + 1], z = xyzs[i * 3 + 2];
for (int j = 0; j<int(pattern.size()); j++) {
int x2 = x + pattern[j].x;
int y2 = y + pattern[j].y;
int z2 = z + pattern[j].z;
if (!(x2<0 || x2 >= h || y2<0 || y2 >= w) && depth[x2*w + y2]<z2) {
depth[x2*w + y2] = z2;
double intensity = min(1.0, (z2 - zmin) / (zmax - zmin)*0.7 + 0.3);
show[(x2*w + y2) * 3 + 0] = pattern[j].b*c2[i] * intensity;
show[(x2*w + y2) * 3 + 1] = pattern[j].g*c0[i] * intensity;
show[(x2*w + y2) * 3 + 2] = pattern[j].r*c1[i] * intensity;
}
}
}*/
}
//extern "C"
dllmain.cpp
#include <cstdio>
#include <vector>
#include <algorithm>
#include <math.h>
using namespace std;
struct PointInfo {
int x, y, z;
float r, g, b;
};
extern "C" {
__declspec(dllexport) void render_ball(int h, int w, unsigned char * show, int n, int * xyzs, float * c0, float * c1, float * c2, int r) {
r = max(r, 1);
vector<int> depth(h*w, -2100000000);
vector<PointInfo> pattern;
for (int dx = -r; dx <= r; dx++)
for (int dy = -r; dy <= r; dy++)
if (dx*dx + dy*dy<r*r) {
double dz = sqrt(double(r*r - dx*dx - dy*dy));
PointInfo pinfo;
pinfo.x = dx;
pinfo.y = dy;
pinfo.z = dz;
pinfo.r = dz / r;
pinfo.g = dz / r;
pinfo.b = dz / r;
pattern.push_back(pinfo);
}
double zmin = 0, zmax = 0;
for (int i = 0; i<n; i++) {
if (i == 0) {
zmin = xyzs[i * 3 + 2] - r;
zmax = xyzs[i * 3 + 2] + r;
}
else {
zmin = min(zmin, double(xyzs[i * 3 + 2] - r));
zmax = max(zmax, double(xyzs[i * 3 + 2] + r));
}
}
for (int i = 0; i<n; i++) {
int x = xyzs[i * 3 + 0], y = xyzs[i * 3 + 1], z = xyzs[i * 3 + 2];
for (int j = 0; j<int(pattern.size()); j++) {
int x2 = x + pattern[j].x;
int y2 = y + pattern[j].y;
int z2 = z + pattern[j].z;
if (!(x2<0 || x2 >= h || y2<0 || y2 >= w) && depth[x2*w + y2]<z2) {
depth[x2*w + y2] = z2;
double intensity = min(1.0, (z2 - zmin) / (zmax - zmin)*0.7 + 0.3);
show[(x2*w + y2) * 3 + 0] = pattern[j].b*c2[i] * intensity;
show[(x2*w + y2) * 3 + 1] = pattern[j].g*c0[i] * intensity;
show[(x2*w + y2) * 3 + 2] = pattern[j].r*c1[i] * intensity;
}
}
}
}
}//extern "C"
调试好的PointNet包:https://url23.ctfile.com/f/22628623-519017610-1d8c9e 密码：7875
render_balls_so.dll源文件下载:https://url23.ctfile.com/f/22628623-519017617-ce1cd2 密码7875
shapenet数据集下载:https://shapenet.cs.stanford.edu/ericyi/shapenetcore_partanno_segmentation_benchmark_v0.zip
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