Awesome
计图点云库
已经实现的模型
| Model | Classification | Segmentation |
|---|
| PointNet | √ | √ |
| PointNet ++ | √ | √ |
| PointCNN | √ | √ |
| DGCNN | √ | √ |
| PointConv | √ | √ |
| KPConv | √ | |
使用方法
安装依赖
sudo apt install python3.7-dev libomp-dev
sudo python3.7 -m pip install git+https://github.com/Jittor/jittor.git
python3.7 -m pip install sklearn lmdb msgpack_numpy
安装点云库
git clone https://github.com/Jittor/PointCloudLib.git # 将库下载的本地
# 您需要将 ModelNet40 和 ShapeNet 数据集下载到 data_util/data/ 里面
ModelNet40 数据集链接 ： https://shapenet.cs.stanford.edu/media/modelnet40_normal_resampled.zip
ShapeNet 数据集链接 ： https://shapenet.cs.stanford.edu/media/shapenet_part_seg_hdf5_data.zip
sh run_cls.sh # 点云分类的训练和测试（以PointNet为例）
sh run_seg.sh # 点云分割的训练和测试（以PointNet为例）
# 对于kpconv，需要额外执行脚本再开始训练
cd cpp_wrappers
bash compile_wrappers.sh
cd ..
python train_cls.py --model kpconv # kpconv训练
python train_cls.py --model kpconv --eval # 修改train_cls.py中的chkp_path指定模型进行测试
所依赖的库
Python 3.7
Jittor
Numpy
sklearn
lmdb
msgpack_numpy
...
实验结果
分类训练效果测试
| Model | Input | overall accuracy |
|---|
| PointNet | 1024 xyz | 87.2 |
| PointNet ++ | 4096 xyz + normal | 92.3 |
| PointCNN | 1024 xyz | 92.6 |
| DGCNN | 1024 xyz | 92.9 |
| PointConv | 1024 xyz + normal | 92.4 |
| KPConv | xyz + neighbors + pools + lengths + features | 92.5 |
分类训练时间测试
| Model | Speed up ratio (Compare with Pytorch) |
|---|
| PointNet | 1.22 |
| PointNet ++ | 2.72 |
| PointCNN | 2.41 |
| DGCNN | 1.22 |
| PointConv | |
| KPConv | |
分割训练效果测试
| Model | Input | pIoU |
|---|
| PointNet | 2048 xyz + cls label | 83.5 |
| PointNet ++ | 2048 xyz + cls label + normal | 85.0 |
| PointCNN | 2048 xyz + normal | 86.0 |
| DGCNN | 2048 xyz + cls label | 85.1 |
| PointConv | 2048 xyz | 85.4 |
分割训练时间测试
| Model | Speed up ratio (Compare with Pytorch) |
|---|
| PointNet | 1.06 |
| PointNet ++ | 1.85 |
| PointCNN | None (No pytorch implementation) |
| DGCNN | 1.05 |
| PointConv | None (No pytorch implementation) |
目录结构
.
├── data_utils # 数据相关工具
│ ├── data # 数据存放路径
│ ├── modelnet40_loader.py
│ └── shapenet_loader.py
├── misc
│ ├── layers.py
│ ├── ops.py
│ ├── pointconv_utils.py
│ └── utils.py
├── networks
│ ├── cls
│ │ ├── dgcnn.py
│ │ ├── pointcnn.py
│ │ ├── pointconv.py
│ │ ├── pointnet2.py
│ │ └── pointnet.py
│ └── seg
│ ├── dgcnn_partseg.py
│ ├── pointcnn_partseg.py
│ ├── pointconv_partseg.py
│ ├── pointnet2_partseg.py
│ └── pointnet_partseg.py
├── README.md
├── run_cls.sh
├── run_partseg.sh
├── train_cls.py
└── train_partseg.py
其他点云开源工作：
PCT: https://github.com/MenghaoGuo/PCT
非常欢迎您使用计图的点云库进行相关的研究，如在使用中有问题，欢迎提交 issues。
Reference code :
https://github.com/AnTao97/dgcnn.pytorch