def main():
args = parser.parse_args()
with open(args.config) as f:
config = yaml.load(f)
print("\n**************************")
for k, v in config['common'].items():
setattr(args, k, v)
print('\n[%s]:'%(k), v)
print("\n**************************\n")
try:
os.makedirs(args.save_path)
except OSError:
pass
train_transforms = transforms.Compose([
d_utils.PointcloudToTensor()
])
test_transforms = transforms.Compose([
d_utils.PointcloudToTensor()
])
train_dataset = ModelNet40Cls(num_points = args.num_points, root = args.data_root, transforms=train_transforms)
train_dataloader = DataLoader(
train_dataset,
batch_size=args.batch_size,
shuffle=True,
num_workers=int(args.workers)
)
test_dataset = ModelNet40Cls(num_points = args.num_points, root = args.data_root, transforms=test_transforms, train=False)
test_dataloader = DataLoader(
test_dataset,
batch_size=args.batch_size,
shuffle=False,
num_workers=int(args.workers)
)
model = RSCNN_SSN(num_classes = args.num_classes, input_channels = args.input_channels, relation_prior = args.relation_prior, use_xyz = True)
model.cuda()
optimizer = optim.Adam(
model.parameters(), lr=args.base_lr, weight_decay=args.weight_decay)
lr_lbmd = lambda e: max(args.lr_decay**(e // args.decay_step), args.lr_clip / args.base_lr)
bnm_lmbd = lambda e: max(args.bn_momentum * args.bn_decay**(e // args.decay_step), args.bnm_clip)
lr_scheduler = lr_sched.LambdaLR(optimizer, lr_lbmd)
bnm_scheduler = pt_utils.BNMomentumScheduler(model, bnm_lmbd)
if args.checkpoint is not '':
model.load_state_dict(torch.load(args.checkpoint))
print('Load model successfully: %s' % (args.checkpoint))
criterion = nn.CrossEntropyLoss()
num_batch = len(train_dataset)/args.batch_size
# training
train(train_dataloader, test_dataloader, model, criterion, optimizer, lr_scheduler, bnm_scheduler, args, num_batch)
def main():
args = parser.parse_args()
with open(args.config) as f:
config = yaml.load(f)
print("\n**************************")
for k, v in config['common'].items():
setattr(args, k, v)
print('\n[%s]:' % (k), v)
print("\n**************************\n")
try:
os.makedirs(args.save_path)
except OSError:
pass
train_dataset = ModelNet40Cls(num_points=args.num_points,
root=args.data_root,
transforms=None)
train_dataloader = DataLoader(train_dataset,
batch_size=args.batch_size,
shuffle=True,
num_workers=int(args.workers),
pin_memory=True)
test_dataset_z = ModelNet40Cls(num_points=args.num_points,
root=args.data_root,
transforms=None,
train=False)
test_dataloader_z = DataLoader(test_dataset_z,
batch_size=args.batch_size,
shuffle=False,
num_workers=int(args.workers),
pin_memory=True)
test_dataset_so3 = ModelNet40Cls(num_points=args.num_points,
root=args.data_root,
transforms=None,
train=False)
test_dataloader_so3 = DataLoader(test_dataset_so3,
batch_size=args.batch_size,
shuffle=False,
num_workers=int(args.workers),
pin_memory=True)
if args.model == "pointnet2_ssn":
model = PointNet2_SSN(num_classes=args.num_classes)
model.cuda()
elif args.model == "rscnn_ssn":
model = RSCNN_SSN(num_classes=args.num_classes)
model.cuda()
model = torch.nn.DataParallel(model)
elif args.model == "rscnn_msn":
model = RSCNN_MSN(num_classes=args.num_classes)
model.cuda()
model = torch.nn.DataParallel(model)
else:
print("Doesn't support this model")
return
optimizer = optim.Adam(model.parameters(),
lr=args.base_lr,
weight_decay=args.weight_decay)
lr_lbmd = lambda e: max(args.lr_decay**(e // args.decay_step), args.lr_clip
/ args.base_lr)
bnm_lmbd = lambda e: max(
args.bn_momentum * args.bn_decay**
(e // args.decay_step), args.bnm_clip)
lr_scheduler = lr_sched.LambdaLR(optimizer, lr_lbmd)
bnm_scheduler = pt_utils.BNMomentumScheduler(model, bnm_lmbd)
if args.checkpoint is not '':
model.load_state_dict(torch.load(args.checkpoint))
print('Load model successfully: %s' % args.checkpoint)
criterion = nn.CrossEntropyLoss()
num_batch = len(train_dataset) / args.batch_size
# training
train(train_dataloader, test_dataloader_z, test_dataloader_so3, model,
criterion, optimizer, lr_scheduler, bnm_scheduler, args, num_batch)
def main():
args = parser.parse_args()
with open(args.config) as f:
config = yaml.load(f)
for k, v in config['common'].items():
setattr(args, k, v)
test_transforms = transforms.Compose([d_utils.PointcloudToTensor()])
test_dataset = ModelNet40Cls(num_points=args.num_points,
root=args.data_root,
transforms=test_transforms,
train=False)
test_dataloader = DataLoader(test_dataset,
batch_size=args.batch_size,
shuffle=False,
num_workers=int(args.workers),
pin_memory=True)
model = DensePoint(num_classes=args.num_classes,
input_channels=args.input_channels,
use_xyz=True)
model.cuda()
if args.checkpoint is not '':
model.load_state_dict(torch.load(args.checkpoint))
print('Load model successfully: %s' % (args.checkpoint))
# evaluate
PointcloudScale = d_utils.PointcloudScale() # initialize random scaling
model.eval()
global_acc = 0
for i in range(NUM_REPEAT):
preds = []
labels = []
s = time.time()
for j, data in enumerate(test_dataloader, 0):
points, target = data
points, target = points.cuda(), target.cuda()
points, target = Variable(points,
volatile=True), Variable(target,
volatile=True)
# points [batch_size, num_points, dimensions], e.g., [256, 2048, 3]
# furthest point sampling
# fps_idx = pointnet2_utils.furthest_point_sample(points, 1200) # (B, npoint)
# random sampling
fps_idx = np.random.randint(0,
points.shape[1] - 1,
size=[points.shape[0], 1200])
fps_idx = torch.from_numpy(fps_idx).type(torch.IntTensor).cuda()
pred = 0
for v in range(NUM_VOTE):
new_fps_idx = fps_idx[:,
np.random.choice(1200, args.
num_points, False)]
new_points = pointnet2_utils.gather_operation(
points.transpose(1, 2).contiguous(),
new_fps_idx).transpose(1, 2).contiguous()
if v > 0:
new_points.data = PointcloudScale(new_points.data)
pred += F.softmax(model(new_points), dim=1)
pred /= NUM_VOTE
target = target.view(-1)
_, pred_choice = torch.max(pred.data, -1)
preds.append(pred_choice)
labels.append(target.data)
e = time.time()
preds = torch.cat(preds, 0)
labels = torch.cat(labels, 0)
acc = (preds == labels).sum() / labels.numel()
if acc > global_acc:
global_acc = acc
print('Repeat %3d \t Acc: %0.6f' % (i + 1, acc))
print('time (secs) for 1 epoch: ', (e - s))
print('\nBest voting acc: %0.6f' % (global_acc))
args = parse_args()
BASE_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'data')
transforms = transforms.Compose([
d_utils.PointcloudToTensor(),
d_utils.PointcloudScale(),
d_utils.PointcloudRotate(),
d_utils.PointcloudRotatePerturbation(),
d_utils.PointcloudTranslate(),
d_utils.PointcloudJitter(),
d_utils.PointcloudRandomInputDropout()
])
test_set = ModelNet40Cls(args.num_points,
BASE_DIR,
transforms=transforms,
train=False)
test_loader = DataLoader(test_set,
batch_size=args.batch_size,
shuffle=True,
num_workers=2,
pin_memory=True)
train_set = ModelNet40Cls(args.num_points, BASE_DIR, transforms=transforms)
train_loader = DataLoader(train_set,
batch_size=args.batch_size,
shuffle=True,
num_workers=2,
pin_memory=True)
model = Pointnet(input_channels=0, num_classes=40, use_xyz=True)
def main():
args = parser.parse_args()
with open(args.config) as f:
config = yaml.load(f)
for k, v in config['common'].items():
setattr(args, k, v)
test_transforms = transforms.Compose([d_utils.PointcloudToTensor()])
test_dataset = ModelNet40Cls(num_points=args.num_points,
root=args.data_root,
transforms=test_transforms,
train=False)
test_dataloader = DataLoader(test_dataset,
batch_size=args.batch_size,
shuffle=False,
num_workers=int(args.workers),
pin_memory=False)
model = RSCNN_SSN(num_classes=args.num_classes,
input_channels=args.input_channels,
relation_prior=args.relation_prior,
use_xyz=True)
# for multi GPU
device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
if torch.cuda.is_available() and torch.cuda.device_count() >= 2:
model = nn.DataParallel(model, device_ids=[0, 1])
model.to(device)
elif torch.cuda.is_available() and torch.cuda.device_count() == 1:
model.cuda()
if args.checkpoint is not '':
model.load_state_dict(torch.load(args.checkpoint))
print('Load model successfully: %s' % (args.checkpoint))
# evaluate
PointcloudScale = d_utils.PointcloudScale() # initialize random scaling
model.eval()
global_acc = 0
for i in range(NUM_REPEAT):
preds = []
labels = []
for j, data in enumerate(test_dataloader, 0):
points, target = data
points, target = points.cuda(), target.cuda()
points, target = Variable(points,
volatile=True), Variable(target,
volatile=True)
# fastest point sampling
fps_idx = pointnet2_utils.furthest_point_sample(
points, 1200) # (B, npoint)
pred = 0
for v in range(NUM_VOTE):
new_fps_idx = fps_idx[:,
np.random.choice(1200, args.
num_points, False)]
new_points = pointnet2_utils.gather_operation(
points.transpose(1, 2).contiguous(),
new_fps_idx).transpose(1, 2).contiguous()
if v > 0:
new_points.data = PointcloudScale(new_points.data)
pred += F.softmax(model(new_points), dim=1)
pred /= NUM_VOTE
target = target.view(-1)
_, pred_choice = torch.max(pred.data, -1)
preds.append(pred_choice)
labels.append(target.data)
preds = torch.cat(preds, 0)
labels = torch.cat(labels, 0)
acc = (preds == labels).sum() / labels.numel()
if acc > global_acc:
global_acc = acc
print('Repeat %3d \t Acc: %0.6f' % (i + 1, acc))
print('\nBest voting acc: %0.6f' % (global_acc))
def main():
global logger
args = parser.parse_args()
with open(args.config) as f:
config = yaml.safe_load(f)
for k, v in config['common'].items():
setattr(args, k, v)
output_dir = args.save_path
if output_dir:
import time
msg = 'init_train'
output_dir = os.path.join(
output_dir, "train_{}_{}".format(time.strftime("%m_%d_%H_%M_%S"),
msg))
os.makedirs(output_dir)
logger = get_logger("RS-CNN", output_dir, prefix="train")
logger.info("Running with config:\n{}".format(args))
train_transforms = transforms.Compose([d_utils.PointcloudToTensor()])
test_transforms = transforms.Compose([d_utils.PointcloudToTensor()])
train_dataset = ModelNet40Cls(num_points=args.num_points,
root=args.data_root,
transforms=train_transforms)
train_dataloader = DataLoader(train_dataset,
batch_size=args.batch_size,
shuffle=True,
num_workers=int(args.workers),
pin_memory=True)
test_dataset = ModelNet40Cls(num_points=args.num_points,
root=args.data_root,
transforms=test_transforms,
train=False)
test_dataloader = DataLoader(test_dataset,
batch_size=args.batch_size,
shuffle=False,
num_workers=int(args.workers),
pin_memory=True)
model = RSCNN_SSN(num_classes=args.num_classes,
input_channels=args.input_channels,
relation_prior=args.relation_prior,
use_xyz=True)
model.cuda()
optimizer = optim.Adam(model.parameters(),
lr=args.base_lr,
weight_decay=args.weight_decay)
lr_lbmd = lambda e: max(args.lr_decay**(e // args.decay_step), args.lr_clip
/ args.base_lr)
bnm_lmbd = lambda e: max(
args.bn_momentum * args.bn_decay**
(e // args.decay_step), args.bnm_clip)
lr_scheduler = lr_sched.LambdaLR(optimizer, lr_lbmd)
bnm_scheduler = pt_utils.BNMomentumScheduler(model, bnm_lmbd)
if args.checkpoint is not '':
model.load_state_dict(torch.load(args.checkpoint))
logger.info('Load model successfully: %s' % (args.checkpoint))
criterion = nn.CrossEntropyLoss()
num_batch = len(train_dataset) / args.batch_size
# training
train(train_dataloader, test_dataloader, model, criterion, optimizer,
lr_scheduler, bnm_scheduler, args, num_batch)
