pytorch 三维点分类_Pointnet-pytorch-learning

Pytorch Implementation of PointNet and PointNet++

This repo is implementation for PointNet and PointNet++ in pytorch.

Update

2019/11/26:

(1) Fixed some errors in previous codes and added data augmentation tricks. Now classification by only 1024 points can achieve 92.8%!

(2) Added testing codes, including classification and segmentation, and semantic segmentation with visualization.

(3) Organized all models into ./models files for easy using.

Classification

Data Preparation

Download alignment ModelNet here and save in data/modelnet40_normal_resampled/.

Run

## Check model in ./models

## E.g. pointnet2_msg

python train_cls.py --model pointnet2_cls_msg --normal --log_dir pointnet2_cls_msg

python test_cls.py --normal --log_dir pointnet2_cls_msg

Performance

Model

Accuracy

PointNet (Official)

89.2

PointNet2 (Official)

91.9

PointNet (Pytorch without normal)

90.6

PointNet (Pytorch with normal)

91.4

PointNet2_SSG (Pytorch without normal)

92.2

PointNet2_SSG (Pytorch with normal)

92.4

PointNet2_MSG (Pytorch with normal)

92.8

Part Segmentation

Data Preparation

Download alignment ShapeNet here and save in data/shapenetcore_partanno_segmentation_benchmark_v0_normal/.

Run

## Check model in ./models

## E.g. pointnet2_msg

python train_partseg.py --model pointnet2_part_seg_msg --normal --log_dir pointnet2_part_seg_msg

python test_partseg.py --normal --log_dir pointnet2_part_seg_msg

Performance

Model

Inctance avg IoU

Class avg IoU

PointNet (Official)

83.7

80.4

PointNet2 (Official)

85.1

81.9

PointNet (Pytorch)

84.3

81.1

PointNet2_SSG (Pytorch)

84.9

81.8

PointNet2_MSG (Pytorch)

85.4

82.5

Semantic Segmentation

Data Preparation

Download 3D indoor parsing dataset (S3DIS) here and save in data/Stanford3dDataset_v1.2_Aligned_Version/.

cd data_utils

python collect_indoor3d_data.py

Processed data will save in data/stanford_indoor3d/.

Run

## Check model in ./models

## E.g. pointnet2_ssg

python train_semseg.py --model pointnet2_sem_seg --test_area 5 --log_dir pointnet2_sem_seg

python test_semseg.py --log_dir pointnet2_sem_seg --test_area 5 --visual

Visualization results will save in log/sem_seg/pointnet2_sem_seg/visual/ and you can visualize these .obj file by MeshLab.

Performance on sub-points of raw dataset (processed by official PointNet Link)

Model

Class avg IoU

PointNet (Official)

41.1

PointNet (Pytorch)

48.9

PointNet2 (Official)

N/A

PointNet2_ssg (Pytorch)

53.2

Performance on raw dataset

still on testing...

Visualization

Using show3d_balls.py

## build C++ code for visualization

cd visualizer

bash build.sh

## run one example

python show3d_balls.py

Using MeshLab

Reference By

Environments

Ubuntu 16.04

Python 3.6.7

Pytorch 1.1.0