DGCNN.pytorch

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

Note that the drawed network sturcture for classification in DGCNN paper is not consistent with the corresponding description in section 4.1. We fixed this mistake 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 experiement more than one time and select the best result.

 

Requirements

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

 

Contents

• Point Cloud Classification
• Point Cloud Part Segmentation
• Point Cloud Sementic Segmentation

 

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=checkpoints/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=checkpoints/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

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=checkpoints/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=checkpoints/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

 

Point Cloud Sementic Segmentation

The network structure for this task is slightly different with part sementation, 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 use 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 --test_area=6 

Run the evaluation script after training finished:

• Evaluate in area 6

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

• Evaluate in all area

python main_semseg.py --exp_name=semseg_eval --test_area=all --eval=True --model_root=checkpoints/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 area

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