DGCNN.pytorch

[中文版]

This repo is a PyTorch implementation for Dynamic Graph CNN for Learning on Point Clouds (DGCNN)(https://arxiv.org/pdf/1801.07829). Our code skeleton is borrowed from WangYueFt/dgcnn.

Updates:

• [2021/7/20] Add visualization code for part segmentation and semantic segmentation by Pengliang Ji ([email protected]).

The network structure (Fig. 3) for classification in DGCNN paper is not consistent with the corresponding description in section 4.1 of the paper. The author of DGCNN adopts the setting of classification network in section 4.1, not Fig. 3. We fixed this mistake in Fig. 3 using PS and present the revised figure below.

 

 

Tip: The result of point cloud experiment usually faces greater randomness than 2D image. We suggest you run your experiment more than one time and select the best result.

 

Requirements

• Python 3.7
• PyTorch 1.2
• CUDA 10.0
• Package: glob, h5py, sklearn, plyfile

 

Contents

• Point Cloud Classification
• Point Cloud Part Segmentation
• Point Cloud Semantic Segmentation

Note: All following commands default use all GPU cards. To specify the cards to use, add CUDA_VISIBLE_DEVICES=0,1,2,3 before each command, where the user uses 4 GPU cards with card index 0,1,2,3. You can change the card number and indexes depending on your own needs.

 

Point Cloud Classification

Run the training script:

• 1024 points

python main_cls.py --exp_name=cls_1024 --num_points=1024 --k=20 

• 2048 points

python main_cls.py --exp_name=cls_2048 --num_points=2048 --k=40 

Run the evaluation script after training finished:

• 1024 points

python main_cls.py --exp_name=cls_1024_eval --num_points=1024 --k=20 --eval=True --model_path=outputs/cls_1024/models/model.t7

• 2048 points

python main_cls.py --exp_name=cls_2048_eval --num_points=2048 --k=40 --eval=True --model_path=outputs/cls_2048/models/model.t7

Run the evaluation script with pretrained models:

• 1024 points

python main_cls.py --exp_name=cls_1024_eval --num_points=1024 --k=20 --eval=True --model_path=pretrained/model.cls.1024.t7

• 2048 points

python main_cls.py --exp_name=cls_2048_eval --num_points=2048 --k=40 --eval=True --model_path=pretrained/model.cls.2048.t7

Performance:

ModelNet40 dataset

	Mean Class Acc	Overall Acc
Paper (1024 points)	90.2	92.9
This repo (1024 points)	90.9	93.3
Paper (2048 points)	90.7	93.5
This repo (2048 points)	91.2	93.6

 

Point Cloud Part Segmentation

Note: The training modes 'full dataset' and 'with class choice' are different.

• In 'full dataset', the model is trained and evaluated in all 16 classes and outputs mIoU 85.2% in this repo. The prediction of points in each shape can be any part of all 16 classes.
• In 'with class choice', the model is trained and evaluated in one class, for example airplane, and outputs mIoU 84.5% for airplane in this repo. The prediction of points in each shape can only be one of the parts in this chosen class.

Run the training script:

• Full dataset

python main_partseg.py --exp_name=partseg 

• With class choice, for example airplane

python main_partseg.py --exp_name=partseg_airplane --class_choice=airplane

Run the evaluation script after training finished:

• Full dataset

python main_partseg.py --exp_name=partseg_eval --eval=True --model_path=outputs/partseg/models/model.t7

• With class choice, for example airplane

python main_partseg.py --exp_name=partseg_airplane_eval --class_choice=airplane --eval=True --model_path=outputs/partseg_airplane/models/model.t7

Run the evaluation script with pretrained models:

• Full dataset

python main_partseg.py --exp_name=partseg_eval --eval=True --model_path=pretrained/model.partseg.t7

• With class choice, for example airplane

python main_partseg.py --exp_name=partseg_airplane_eval --class_choice=airplane --eval=True --model_path=pretrained/model.partseg.airplane.t7

Performance:

ShapeNet part dataset

	Mean IoU	Airplane	Bag	Cap	Car	Chair	Earphone	Guitar	Knife	Lamp	Laptop	Motor	Mug	Pistol	Rocket	Skateboard	Table
Shapes		2690	76	55	898	3758	69	787	392	1547	451	202	184	283	66	152	5271
Paper	85.2	84.0	83.4	86.7	77.8	90.6	74.7	91.2	87.5	82.8	95.7	66.3	94.9	81.1	63.5	74.5	82.6
This repo	85.2	84.5	80.3	84.7	79.8	91.1	76.8	92.0	87.3	83.8	95.7	69.6	94.3	83.7	51.5	76.1	82.8

Visualization:

Usage:

Use --visu to control visualization file.

• To visualize a single shape, for example the 0-th airplane (the shape index starts from 0), use --visu=airplane_0.
• To visualize all shapes in a class, for example airplane, use --visu=airplane.
• To visualize all shapes in all classes, use --visu=all.

Use --visu_format to control visualization file format.

• To output .txt file, use --visu_format=txt.
• To output .ply format, use --visu_format=ply.

Both .txt and .ply file can be loaded into MeshLab for visualization. For the usage of MeshLab on .txt file, see issue #8 for details. The .ply file can be directly loaded into MeshLab by dragging.

The visualization file name follows the format shapename_pred_miou.FILE_TYPE for prediction output or shapename_gt.FILE_TYPE for ground-truth, where miou shows the mIoU prediction for this shape.

Full dataset:

• Output the visualization file of the 0-th airplane with .ply format

# Use trained model
python main_partseg.py --exp_name=partseg_eval --eval=True --model_path=outputs/partseg/models/model.t7 --visu=airplane_0 --visu_format=ply

# Use pretrained model
python main_partseg.py --exp_name=partseg_eval --eval=True --model_path=pretrained/model.partseg.t7 --visu=airplane_0 --visu_format=ply

• Output the visualization files of all shapes in airplane class with .ply format

# Use trained model
python main_partseg.py --exp_name=partseg_eval --eval=True --model_path=outputs/partseg/models/model.t7 --visu=airplane --visu_format=ply

# Use pretrained model
python main_partseg.py --exp_name=partseg_eval --eval=True --model_path=pretrained/model.partseg.t7 --visu=airplane --visu_format=ply

• Output the visualization files of all shapes in all classes with .ply format

# Use trained model
python main_partseg.py --exp_name=partseg_eval --eval=True --model_path=outputs/partseg/models/model.t7 --visu=all --visu_format=ply

# Use pretrained model
python main_partseg.py --exp_name=partseg_eval --eval=True --model_path=pretrained/model.partseg.t7 --visu=all --visu_format=ply

With class choice, for example airplane:

• Output the visualization file of the 0-th airplane with .ply format

# Use trained model
python main_partseg.py --exp_name=partseg_airplane_eval --class_choice=airplane --eval=True --model_path=outputs/partseg_airplane/models/model.t7 --visu=airplane_0 --visu_format=ply

# Use pretrained model
python main_partseg.py --exp_name=partseg_airplane_eval --class_choice=airplane --eval=True --model_path=pretrained/model.partseg.airplane.t7 --visu=airplane_0 --visu_format=ply

• Output the visualization files of all shapes in airplane class with .ply format

# Use trained model
python main_partseg.py --exp_name=partseg_airplane_eval --class_choice=airplane --eval=True --model_path=outputs/partseg_airplane/models/model.t7 --visu=airplane --visu_format=ply

# Use pretrained model
python main_partseg.py --exp_name=partseg_airplane_eval --class_choice=airplane --eval=True --model_path=pretrained/model.partseg.airplane.t7 --visu=airplane --visu_format=ply

Results:

The visualization result of the airplane 0:

Color map:

 

Point Cloud Semantic Segmentation

The network structure for this task is slightly different with part segmentation, without spatial transform and categorical vector. The MLP in the end is changed into (512, 256, 13) and only one dropout is used after 256.

You have to download Stanford3dDataset_v1.2_Aligned_Version.zip manually from https://goo.gl/forms/4SoGp4KtH1jfRqEj2 and place it under data/

Run the training script:

This task uses 6-fold training, such that 6 models are trained leaving 1 of 6 areas as the testing area for each model.

• Train in area 1-5

python main_semseg.py --exp_name=semseg_6 --test_area=6 

Run the evaluation script after training finished:

• Evaluate in area 6 after the model is trained in area 1-5

python main_semseg.py --exp_name=semseg_eval_6 --test_area=6 --eval=True --model_root=outputs/semseg/models/

• Evaluate in all areas after 6 models are trained

python main_semseg.py --exp_name=semseg_eval --test_area=all --eval=True --model_root=outputs/semseg/models/

Run the evaluation script with pretrained models:

• Evaluate in area 6

python main_semseg.py --exp_name=semseg_eval_6 --test_area=6 --eval=True --model_root=pretrained/semseg/

• Evaluate in all areas

python main_semseg.py --exp_name=semseg_eval --test_area=all --eval=True --model_root=pretrained/semseg/

Performance:

Stanford Large-Scale 3D Indoor Spaces Dataset (S3DIS) dataset

	Mean IoU	Overall Acc
Paper	56.1	84.1
This repo	59.2	85.0

Visualization:

Usage:

Use --visu to control visualization file.

• To visualize a single room, for example the office room 1 in area 6 (the room index starts from 1), use --visu=area_6_office_1.
• To visualize all rooms in an area, for example area 6, use --visu=area_6.
• To visualize all rooms in all areas, use --visu=all.

Use --visu_format to control visualization file format.

• To output .txt file, use --visu_format=txt.
• To output .ply format, use --visu_format=ply.

Both .txt and .ply file can be loaded into MeshLab for visualization. For the usage of MeshLab on .txt file, see issue #8 for details. The .ply file can be directly loaded into MeshLab by dragging.

The visualization file name follows the format roomname_pred_miou.FILE_TYPE for prediction output or roomname_gt.FILE_TYPE for ground-truth, where miou shows the mIoU prediction for this room.

Note: In semantic segmentation, you need to first run a training or evaluation command without visualization in the above sections to preprocess dataset. With the dataset well prepared, you can run a command with visualization in the following sections.

Evaluate in area 6 after the model is trained in area 1-5:

• Output the visualization file of office room 1 in area 6 with .ply format

# Use trained model
python main_semseg.py --exp_name=semseg_eval_6 --test_area=6 --eval=True --model_root=outputs/semseg/models/ --visu=area_6_office_1 --visu_format=ply

# Use pretrained model
python main_semseg.py --exp_name=semseg_eval_6 --test_area=6 --eval=True --model_root=pretrained/semseg/ --visu=area_6_office_1 --visu_format=ply

• Output the visualization files of all rooms in area 6 with .ply format

# Use trained model
python main_semseg.py --exp_name=semseg_eval_6 --test_area=6 --eval=True --model_root=outputs/semseg/models/ --visu=area_6 --visu_format=ply

# Use pretrained model
python main_semseg.py --exp_name=semseg_eval_6 --test_area=6 --eval=True --model_root=pretrained/semseg/ --visu=area_6 --visu_format=ply

Evaluate in all areas after 6 models are trained:

• Output the visualization file of office room 1 in area 6 with .ply format

# Use trained model
python main_semseg.py --exp_name=semseg_eval --test_area=all --eval=True --model_root=outputs/semseg/models/ --visu=area_6_office_1 --visu_format=ply

# Use pretrained model
python main_semseg.py --exp_name=semseg_eval --test_area=all --eval=True --model_root=pretrained/semseg/ --visu=area_6_office_1 --visu_format=ply

• Output the visualization files of all rooms in area 6 with .ply format

# Use trained model
python main_semseg.py --exp_name=semseg_eval --test_area=all --eval=True --model_root=outputs/semseg/models/ --visu=area_6 --visu_format=ply

# Use pretrained model
python main_semseg.py --exp_name=semseg_eval --test_area=all --eval=True --model_root=pretrained/semseg/ --visu=area_6 --visu_format=ply

• Output the visualization files of all rooms in all areas with .ply format

# Use trained model
python main_semseg.py --exp_name=semseg_eval --test_area=all --eval=True --model_root=outputs/semseg/models/ --visu=all --visu_format=ply

# Use pretrained model
python main_semseg.py --exp_name=semseg_eval --test_area=all --eval=True --model_root=pretrained/semseg/ --visu=all --visu_format=ply

Results:

The visualization result of the office room 1 in area 6:

Color map: