def create_loss(self, coarse, fine, gt, alpha):
gt_ds = gt[:, :coarse.shape[1], :]
loss_coarse = earth_mover(coarse, gt_ds)
add_train_summary('train/coarse_loss', loss_coarse)
update_coarse = add_valid_summary('valid/coarse_loss', loss_coarse)
loss_fine = chamfer(fine, gt)
add_train_summary('train/fine_loss', loss_fine)
update_fine = add_valid_summary('valid/fine_loss', loss_fine)
loss = loss_coarse + alpha * loss_fine
add_train_summary('train/loss', loss)
update_loss = add_valid_summary('valid/loss', loss)
return loss, [update_coarse, update_fine, update_loss]
def create_loss(self, gt, alpha):
gt_ds = gt[:, :self.coarse.shape[1], :]
loss_coarse = tf_util.earth_mover(self.coarse, gt_ds)
tf_util.add_train_summary('train/coarse_loss', loss_coarse)
update_coarse = tf_util.add_valid_summary('valid/coarse_loss',
loss_coarse)
loss_fine = tf_util.chamfer(self.fine, gt)
tf_util.add_train_summary('train/fine_loss', loss_fine)
update_fine = tf_util.add_valid_summary('valid/fine_loss', loss_fine)
loss = loss_coarse + alpha * loss_fine
tf_util.add_train_summary('train/loss', loss)
update_loss = tf_util.add_valid_summary('valid/loss', loss)
return loss, [update_coarse, update_fine, update_loss]
def test_vanilla(config):
test_config = config['test_setting']
data_config = config['dataset']
# Data
inputs = tf.placeholder(tf.float32, (1, None, 3))
npts = tf.placeholder(tf.int32, (1,))
gt = tf.placeholder(tf.float32, (1, data_config['num_gt_points'], 3))
output = tf.placeholder(tf.float32, (1, data_config['num_gt_points'], 3))
# Model
model_module = importlib.import_module(config['model']['decoder']['type'])
model = model_module.model(config, inputs, npts, gt, False)
# Metric
cd_op = chamfer(output, gt)
emd_op = earth_mover(output, gt)
# make results directory & save configuration
if os.path.exists(config['results_dir']):
delete_key = input(colored('%s exists. Delete? [y (or enter)/N]'
% config['results_dir'], 'white', 'on_red'))
if delete_key == 'y' or delete_key == "":
os.system('rm -rf %s/*' % config['results_dir'])
else:
os.makedirs(os.path.join(config['results_dir']))
os.system('cp %s %s' % (config['config_path'], config['results_dir']))
os.system('cp test.py %s' % config['results_dir'])
# TF Config
config_proto = tf.ConfigProto()
config_proto.gpu_options.allow_growth = True
config_proto.allow_soft_placement = True
sess = tf.Session(config=config_proto)
saver = tf.train.Saver()
saver.restore(sess, tf.train.latest_checkpoint(config['checkpoint']))
# Test
test_start = time.time()
print(colored("Testing...", 'grey', 'on_green'))
with open(config['list_path']) as file:
model_list = file.read().splitlines()
total_time = 0
total_cd = 0
total_emd = 0
cd_per_cat = {}
emd_per_cat = {}
os.makedirs(config['results_dir'], exist_ok=True)
csv_file = open(os.path.join(config['results_dir'], 'results.csv'), 'w')
writer = csv.writer(csv_file, delimiter=',', quotechar='"')
writer.writerow(['id', 'cd', 'emd'])
for i, model_id in enumerate(model_list):
start = time.time()
# data
if data_config['type'] == 'pcn' or data_config['type'] == 'car':
partial = read_pcd(os.path.join(data_config['dir'], 'partial', '%s.pcd' % model_id))
partial_npts = partial.shape[0]
gt_complete = read_pcd(os.path.join(data_config['dir'], 'complete', '%s.pcd' % model_id))
elif data_config['type'] == 'topnet':
with h5py.File(os.path.join(data_config['dir'], 'partial', '%s.h5' % model_id), 'r') as f:
partial = f.get('data').value.astype(np.float32)
partial_npts = partial.shape[0]
with h5py.File(os.path.join(data_config['dir'], 'gt', '%s.h5' % model_id), 'r') as f:
gt_complete = f.get('data').value.astype(np.float32)
else:
raise NotImplementedError
# inference
completion = sess.run(model.completion, feed_dict={inputs: [partial], npts: [partial_npts]})
cd = sess.run(cd_op, feed_dict={output: completion, gt: [gt_complete]})
emd = sess.run(emd_op, feed_dict={output: completion, gt:[gt_complete]})
total_cd += cd
total_emd += emd
total_time += time.time() - start
writer.writerow([model_id, cd, emd])
csv_file.flush()
synset_id, model_id = model_id.split('/')
if not cd_per_cat.get(synset_id):
cd_per_cat[synset_id] = []
if not emd_per_cat.get(synset_id):
emd_per_cat[synset_id] = []
cd_per_cat[synset_id].append(cd)
emd_per_cat[synset_id].append(emd)
# visualize
if i % test_config['plot_freq'] == 0:
os.makedirs(os.path.join(config['results_dir'], 'plots', synset_id), exist_ok=True)
plot_path = os.path.join(config['results_dir'], 'plots', synset_id, '%s.png' % model_id)
plot_pcd_three_views(plot_path, [partial, completion[0], gt_complete],
model.visualize_titles, None,
'CD %.4f EMD %.4f' %
(cd, emd)
)
if test_config['save_pcd']:
os.makedirs(os.path.join(config['results_dir'], 'pcds', synset_id), exist_ok=True)
save_pcd(os.path.join(config['results_dir'], 'pcds', synset_id, '%s.pcd' % model_id), completion[0])
writer.writerow(["average", total_cd / len(model_list), total_emd / len(model_list)])
for synset_id in cd_per_cat.keys():
writer.writerow([synset_id, np.mean(cd_per_cat[synset_id]), np.mean(emd_per_cat[synset_id])])
with open(os.path.join(config['results_dir'], 'results_summary.txt'), 'w') as log:
log.write('Average Chamfer distance: %.8f \n' % (total_cd / len(model_list)))
log.write('Average Earth mover distance: %.8f \n' % (total_emd / len(model_list)))
log.write('## Summary for each category ## \n')
log.write('ID CD EMD \n')
for synset_id in cd_per_cat.keys():
log.write('%s %.8f %.8f\n' % (synset_id,
np.mean(cd_per_cat[synset_id]),
np.mean(emd_per_cat[synset_id])
)
)
# print results
print('Average time: %f' % (total_time / len(model_list)))
print('Average Chamfer distance: %f' % (total_cd / len(model_list)))
print('Average Earth mover distance: %f' % (total_emd / len(model_list)))
print('Chamfer distance per category')
for synset_id in cd_per_cat.keys():
print(synset_id, '%f' % np.mean(cd_per_cat[synset_id]))
print('Earth mover distance per category')
for synset_id in emd_per_cat.keys():
print(synset_id, '%f' % np.mean(emd_per_cat[synset_id]))
csv_file.close()
sess.close()
print(colored("Test ended!", 'grey', 'on_green'))
print('Total testing time', datetime.timedelta(seconds=time.time() - test_start))
def test_saum(config):
test_config = config['test_setting']
data_config = config['dataset']
# Data
inputs = tf.placeholder(tf.float32, (1, None, 3))
npts = tf.placeholder(tf.int32, (1, ))
gt = tf.placeholder(tf.float32, (1, data_config['num_gt_points'], 3))
output = tf.placeholder(tf.float32, (1, None, 3))
sampled_output = tf.placeholder(tf.float32,
(1, data_config['num_gt_points'], 3))
# Model
model_module = importlib.import_module(config['model']['decoder']['type'])
model = model_module.model(config, inputs, npts, gt, False)
# Loss
cd_op = chamfer(output, gt)
emd_op = earth_mover(sampled_output, gt)
nearest_dist_op = dist_to_nearest(output, gt)
# make results directory
if os.path.exists(config['results_dir']):
delete_key = input(
colored(
'%s exists. Delete? [y (or enter)/N]' % config['results_dir'],
'white', 'on_red'))
if delete_key == 'y' or delete_key == "":
os.system('rm -rf %s/*' % config['results_dir'])
else:
os.makedirs(os.path.join(config['results_dir']))
os.system('cp test_self_consistency.py %s' % config['results_dir'])
# TF Config
config_proto = tf.ConfigProto()
config_proto.gpu_options.allow_growth = True
config_proto.allow_soft_placement = True
sess = tf.Session(config=config_proto)
saver = tf.train.Saver()
saver.restore(sess, tf.train.latest_checkpoint(config['checkpoint']))
# Test
test_start = time.time()
print(colored("Testing...", 'grey', 'on_green'))
with open(config['list_path']) as file:
model_list = file.read().splitlines()
total_time = 0
total_cd = 0
total_fps_cd = 0
total_fps_emd = 0
total_fps_f1_score = 0
cd_per_cat = {}
fps_cd_per_cat = {}
fps_emd_per_cat = {}
fps_f1_score_per_cat = {}
os.makedirs(config['results_dir'], exist_ok=True)
csv_file = open(os.path.join(config['results_dir'], 'results.csv'), 'w')
writer = csv.writer(csv_file, delimiter=',', quotechar='"')
writer.writerow(['id', 'cd', 'fps_cd', 'fps_emd', 'fps_f1_score'])
for i, model_id in enumerate(model_list):
start = time.time()
# data
if data_config['type'] == 'pcn' or data_config['type'] == 'car':
gt_complete = read_pcd(
os.path.join(data_config['dir'], 'complete',
'%s.pcd' % model_id))
gt_complete_npts = gt_complete.shape[0]
elif data_config['type'] == 'topnet':
with h5py.File(
os.path.join(data_config['dir'], 'gt', '%s.h5' % model_id),
'r') as f:
gt_complete = f.get('data').value.astype(np.float32)
gt_complete_npts = gt_complete.shape[0]
else:
raise NotImplementedError
# inference
completion = sess.run(model.completion,
feed_dict={
inputs: [gt_complete],
npts: [gt_complete_npts]
})
fps_completion, fps_indices = sess.run(
model.fps(data_config['num_gt_points'], completion))
is_from_decoder_raw = \
np.arange(0, config['model']['decoder']['num_decoder_points'] + config['model']['upsampling_ratio'] * gt_complete_npts) \
>= config['model']['upsampling_ratio'] * gt_complete_npts
is_from_decoder_fps = fps_indices >= config['model'][
'upsampling_ratio'] * gt_complete_npts
total_time += time.time() - start
# raw
cd = sess.run(cd_op, feed_dict={output: completion, gt: [gt_complete]})
total_cd += cd
# farthest point sampling
# cd, emd
fps_cd = sess.run(cd_op,
feed_dict={
output: fps_completion,
gt: [gt_complete]
})
fps_emd = sess.run(emd_op,
feed_dict={
sampled_output: fps_completion,
gt: [gt_complete]
})
total_fps_cd += fps_cd
total_fps_emd += fps_emd
# f1_score
fps_nn_dists1, fps_nn_dists2 = sess.run(nearest_dist_op,
feed_dict={
output: fps_completion,
gt: [gt_complete]
})
fps_P = len(fps_nn_dists1[fps_nn_dists1 < test_config['threshold']]
) / data_config['num_gt_points']
fps_R = len(fps_nn_dists2[fps_nn_dists2 < test_config['threshold']]
) / data_config['num_gt_points']
fps_f1_score = 2 * fps_P * fps_R / (fps_P + fps_R)
total_fps_f1_score += fps_f1_score
writer.writerow([model_id, cd, fps_cd, fps_emd, fps_f1_score])
csv_file.flush()
synset_id, model_id = model_id.split('/')
if not cd_per_cat.get(synset_id):
cd_per_cat[synset_id] = []
if not fps_cd_per_cat.get(synset_id):
fps_cd_per_cat[synset_id] = []
if not fps_emd_per_cat.get(synset_id):
fps_emd_per_cat[synset_id] = []
if not fps_f1_score_per_cat.get(synset_id):
fps_f1_score_per_cat[synset_id] = []
cd_per_cat[synset_id].append(cd)
fps_cd_per_cat[synset_id].append(fps_cd)
fps_emd_per_cat[synset_id].append(fps_emd)
fps_f1_score_per_cat[synset_id].append(fps_f1_score)
# visualize
if i % test_config['plot_freq'] == 0:
if config['visualizing']['visu_split']:
raw_dir = os.path.join(config['results_dir'], 'plots', 'raw',
synset_id)
fps_dir = os.path.join(config['results_dir'], 'plots', 'fps',
synset_id)
os.makedirs(raw_dir, exist_ok=True)
os.makedirs(fps_dir, exist_ok=True)
raw_plot_path = os.path.join(raw_dir, '%s.png' % model_id)
fps_plot_path = os.path.join(fps_dir, '%s.png' % model_id)
plot_pcd_three_views(raw_plot_path,
[gt_complete, completion[0], gt_complete],
model.visualize_titles,
is_from_decoder_raw, 'CD %.4f' % (cd))
plot_pcd_three_views(
fps_plot_path,
[gt_complete, fps_completion[0], gt_complete],
model.visualize_titles, is_from_decoder_fps[0],
'FPS_CD %.4f FPS_EMD %.4f FPS_f1_score %.4f' %
(fps_cd, fps_emd, fps_f1_score))
else:
os.makedirs(os.path.join(config['results_dir'], 'plots',
synset_id),
exist_ok=True)
plot_path = os.path.join(config['results_dir'], 'plots',
synset_id, '%s.png' % model_id)
plot_pcd_three_views(
plot_path, [gt_complete, completion[0], gt_complete],
model.visualize_titles, None,
'CD %.4f FPS_CD %.4f FPS_EMD %.4f FPS_f1_score %.4f' %
(cd, fps_cd, fps_emd, fps_f1_score))
if test_config['save_pcd']:
os.makedirs(os.path.join(config['results_dir'], 'pcds', synset_id),
exist_ok=True)
save_pcd(
os.path.join(config['results_dir'], 'pcds', synset_id,
'%s.pcd' % model_id), completion[0])
save_pcd(
os.path.join(config['results_dir'], 'pcds', synset_id,
'%s_fps.pcd' % model_id), fps_completion[0])
# write average info in csv file
writer.writerow([
"average", total_cd / len(model_list), total_fps_cd / len(model_list),
total_fps_emd / len(model_list), total_fps_f1_score / len(model_list)
])
for synset_id in cd_per_cat.keys():
writer.writerow([
synset_id,
np.mean(cd_per_cat[synset_id]),
np.mean(fps_cd_per_cat[synset_id]),
np.mean(fps_emd_per_cat[synset_id]),
np.mean(fps_f1_score_per_cat[synset_id])
])
# write average distances(cd, emd) in txt file
with open(os.path.join(config['results_dir'], 'results_summary.txt'),
'w') as log:
log.write('Average Chamfer distance: %.8f \n' %
(total_cd / len(model_list)))
log.write('Average FPS Chamfer distance: %.8f \n' %
(total_fps_cd / len(model_list)))
log.write('Average FPS Earth mover distance: %.8f \n' %
(total_fps_emd / len(model_list)))
log.write(
'Average FPS f1_score(threshold: %.4f): %.8f \n' %
(test_config['threshold'], total_fps_f1_score / len(model_list)))
log.write('## Summary for each category ## \n')
log.write('ID CD FPS_CD FPS_EMD FPS_f1_score\n')
for synset_id in cd_per_cat.keys():
log.write('%s %.8f %.8f %.8f %.8f\n' %
(synset_id, np.mean(cd_per_cat[synset_id]),
np.mean(fps_cd_per_cat[synset_id]),
np.mean(fps_emd_per_cat[synset_id]),
np.mean(fps_f1_score_per_cat[synset_id])))
# print results
print('Average time: %f' % (total_time / len(model_list)))
print('Average Chamfer distance: %f' % (total_cd / len(model_list)))
print('Average FPS Chamfer distance: %f' %
(total_fps_cd / len(model_list)))
print('Average FPS Earth mover distance: %f' %
(total_fps_emd / len(model_list)))
print('Average FPS f1_score(threshold: %.4f): %f' %
(test_config['threshold'], total_fps_f1_score / len(model_list)))
print('Chamfer distance per category')
for synset_id in cd_per_cat.keys():
print(synset_id, '%f' % np.mean(cd_per_cat[synset_id]))
print('Average FPS Chamfer distance per catergory')
for synset_id in fps_cd_per_cat.keys():
print(synset_id, '%f' % np.mean(fps_cd_per_cat[synset_id]))
print('Average FPS Earth mover distance per category')
for synset_id in fps_emd_per_cat.keys():
print(synset_id, '%f' % np.mean(fps_emd_per_cat[synset_id]))
print('Average FPS f1_score per category')
for synset_id in fps_f1_score_per_cat.keys():
print(synset_id, '%f' % np.mean(fps_f1_score_per_cat[synset_id]))
csv_file.close()
sess.close()
print(colored("Test ended!", 'grey', 'on_green'))
print('Total testing time',
datetime.timedelta(seconds=time.time() - test_start))