Introduction

An unofficial PyTorch Implementation of PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space[NIPS 2017].

Requirements

• PyTorch, Python3, TensorboardX, tqdm, fire

Classification

• Start

  • Dataset: ModelNet40, download it from Official Site or Baidu Disk with hi1i.

  • Train

    python train_clss.py --data_root your_data_root --log_dir your_log_dir
    
    eg.
    python train_clss.py --data_root /root/modelnet40_normal_resampled --log_dir cls_ssg_1024
    

  • Evaluate

    python evaluate.py evaluate_cls model data_root checkpoint npoints
    
    eg.
    python evaluate.py evaluate_cls pointnet2_cls_ssg  /root/modelnet40_normal_resampled \
    checkpoints/pointnet2_cls_250.pth 1024
    
    python evaluate.py evaluate_cls pointnet2_cls_msg root/modelnet40_normal_resampled \
    checkpoints/pointnet2_cls_250.pth 1024
    

• Performance(the first row is the results reported in Paper, the following rows are results reported from this repo.)

  Model	NPoints	Aug	Accuracy(%)
  PointNet2(official)	5000	✓	91.7
  PointNet2_SSG	1024	✗	91.8
  PointNet2_SSG	4096	✗	91.7
  PointNet2_SSG	4096	✓	90.5
  PointNet2_MSG	4096	✓	91.0

  Model	Train_NPoints	DP	Test_NPoints	Accuracy(%)
  PointNet2_SSG	1024	✗	256	67.9
  PointNet2_SSG	1024	✓	256	90.8
  PointNet2_SSG	1024	✗	1024	91.8
  PointNet2_SSG	1024	✓	1204	91.9

Part Segmentation

• Start

  • Dataset: ShapeNet part, download it from Official Site or Baidu Disk with 3e5z.

  • Train

    python train_part_seg.py --data_root your_data_root --log_dir your_log_dir
    
    eg.
    python train_part_seg.py --data_root /root/shapenetcore_partanno_segmentation_benchmark_v0_normal \
    --log_dir seg_ssg --batch_size 64
    

  • Evaluate

    python evaluate.py evaluate_seg data_root checkpoint
    
    eg.
    python evaluate.py evaluate_seg /root/shapenetcore_partanno_segmentation_benchmark_v0_normal \
    seg_ssg/checkpoints/pointnet2_cls_250.pth
    

• Metrics: Average IoU

  Model	Metrics	mean	aero	bag	cap	car	chair	ear phone	guitar	knife	lamp	laptop	motor	mug	pistol	rocket	skate board	table
  PointNet2(official)	IoU	85.1	82.4	79.0	87.7	77.3	90.8	71.8	91.0	85.9	83.7	95.3	71.6	94.1	81.3	58.7	76.4	82.6
  PointNet2_SSG	IoU	84.1	82.3	75.0	80.1	77.8	90.2	73.7	90.7	84.1	82.9	95.0	69.3	93.3	80.3	55.6	76.3	80.7
  PointNet2_SSG	Accuracy	93.2	89.9	89.0	85.5	91.8	94.4	93.5	96.1	91.1	89.2	96.9	87.4	96.4	93.7	77.2	95.9	94.8

Reference

• https://github.com/charlesq34/pointnet2
• https://github.com/yanx27/Pointnet_Pointnet2_pytorch
• https://github.com/sshaoshuai/Pointnet2.PyTorch