点云深度学习系列5——pointnet++文章及代码分析

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点云深度学习系列5——pointnet++文章及代码分析

2018年05月29日 08:48:46 李敏乐1992 阅读数：1581 标签： point cloud pointnet deep learning更多

个人分类： point cloud deep learning

大家好。

PointNet++是PointNet的升级版本，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，对结构和代码进行分析。

网络结构

首先是网络结构方面，复习前任PointNet网络结构的，请点这里

改进版去掉了T-net，在网络层次上变多了，但是更加组织有序。

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 = {}
l0_xyz = point_cloud
l0_points = None
end_points['l0_xyz'] = l0_xyz
# Set abstraction layers
# Note: When using NCHW for layer 2, we see increased GPU memory usage (in TF1.4).
# So we only use NCHW for layer 1 until this issue can be resolved.
l1_xyz, l1_points, l1_indices = pointnet_sa_module(l0_xyz, l0_points, npoint=512, radius=0.2, nsample=32, mlp=[64,64,128], mlp2=None, group_all=False, is_training=is_training, bn_decay=bn_decay, scope='layer1', use_nchw=True)
l2_xyz, l2_points, l2_indices = pointnet_sa_module(l1_xyz, l1_points, npoint=128, radius=0.4, nsample=64, mlp=[128,128,256], mlp2=None, group_all=False, is_training=is_training, bn_decay=bn_decay, scope='layer2')
l3_xyz, l3_points, l3_indices = pointnet_sa_module(l2_xyz, l2_points, npoint=None, radius=None, nsample=None, mlp=[256,512,1024], mlp2=None, group_all=True, is_training=is_training, bn_decay=bn_decay, scope='layer3')
# Fully connected layers
net = tf.reshape(l3_points, [batch_size, -1])
net = tf_util.fully_connected(net, 512, bn=True, is_training=is_training, scope='fc1', bn_decay=bn_decay)
net = tf_util.dropout(net, keep_prob=0.5, is_training=is_training, scope='dp1')
net = tf_util.fully_connected(net, 256, bn=True, is_training=is_training, scope='fc2', bn_decay=bn_decay)
net = tf_util.dropout(net, keep_prob=0.5, is_training=is_training, scope='dp2')
net = tf_util.fully_connected(net, 40, activation_fn=None, scope='fc3')
return net, end_points

上述代码部分依然分成特征提取和分类任务两个部分来看。

特征提取部分即代码中的Set abstraction layers，值得注意的是它没有用T-net，而是直接对点云进行处理。由三个pointnet_sa_module模块组成，每个模块内包含3层mlp和1个pooling层，所以共总用了9个mlp层用于特征提取。

pointnet_sa_module模块的代码如下：

def pointnet_sa_module(xyz, points, npoint, radius, nsample, mlp, mlp2, group_all, is_training, bn_decay, scope, bn=True, pooling='max', knn=False, use_xyz=True, use_nchw=False):
''' PointNet Set Abstraction (SA) Module
Input:
xyz: (batch_size, ndataset, 3) TF tensor
points: (batch_size, ndataset, channel) TF tensor
npoint: int32 -- #points sampled in farthest point sampling中心点的个数
radius: float32 -- search radius in local region
nsample: int32 -- how many points in each local region
mlp: list of int32 -- output size for MLP on each point
mlp2: list of int32 -- output size for MLP on each region
group_all: bool -- group all points into one PC if set true, OVERRIDE
npoint, radius and nsample settings
use_xyz: bool, if True concat XYZ with local point features, otherwise just use point features
use_nchw: bool, if True, use NCHW data format for conv2d, which is usually faster than NHWC format
Return:
new_xyz: (batch_size, npoint, 3) TF tensor
new_points: (batch_size, npoint, mlp[-1] or mlp2[-1]) TF tensor
idx: (batch_size, npoint, nsample) int32 -- indices for local regions
'''
data_format = 'NCHW' if use_nchw else 'NHWC'
with tf.variable_scope(scope) as sc: # Sample and Grouping
if group_all:
nsample = xyz.get_shape()[1].value
new_xyz, new_points, idx, grouped_xyz = sample_and_group_all(xyz, points, use_xyz) else:
new_xyz, new_points, idx, grouped_xyz = sample_and_group(npoint, radius, nsample, xyz, points, knn, use_xyz) # Point Feature Embedding
if use_nchw: new_points = tf.transpose(new_points, [0,3,1,2]) for i, num_out_channel in enumerate(mlp):
new_points = tf_util.conv2d(new_points, num_out_channel, [1,1],
padding='VALID', stride=[1,1],
bn=bn, is_training=is_training,
scope='conv%d'%(i), bn_decay=bn_decay,
data_format=data_format)
if use_nchw: new_points = tf.transpose(new_points, [0,2,3,1]) # Pooling in Local Regions
if pooling=='max':
new_points = tf.reduce_max(new_points, axis=[2], keep_dims=True, name='maxpool') elif pooling=='avg':
new_points = tf.reduce_mean(new_points, axis=[2], keep_dims=True, name='avgpool') elif pooling=='weighted_avg': with tf.variable_scope('weighted_avg'):
dists = tf.norm(grouped_xyz,axis=-1,ord=2,keep_dims=True)
exp_dists = tf.exp(-dists * 5)
weights = exp_dists/tf.reduce_sum(exp_dists,axis=2,keep_dims=True) # (batch_size, npoint, nsample, 1)
new_points *= weights # (batch_size, npoint, nsample, mlp[-1])
new_points = tf.reduce_sum(new_points, axis=2, keep_dims=True) elif pooling=='max_and_avg':
max_points = tf.reduce_max(new_points, axis=[2], keep_dims=True, name='maxpool')
avg_points = tf.reduce_mean(new_points, axis=[2], keep_dims=True, name='avgpool')
new_points = tf.concat([avg_points, max_points], axis=-1) # [Optional] Further Processing
if mlp2 is not None: if use_nchw: new_points = tf.transpose(new_points, [0,3,1,2]) for i, num_out_channel in enumerate(mlp2):
new_points = tf_util.conv2d(new_points, num_out_channel, [1,1],
padding='VALID', stride=[1,1],
bn=bn, is_training=is_training,
scope='conv_post_%d'%(i), bn_decay=bn_decay,
data_format=data_format)
if use_nchw: new_points = tf.transpose(new_points, [0,2,3,1])
new_points = tf.squeeze(new_points, [2]) # (batch_size, npoints, mlp2[-1])
return new_xyz, new_points, idx