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, coarse, fine, gt, alpha):
gt_ds = gt[:, :coarse.shape[1], :]
loss_coarse = 10 * earth_mover(coarse[:, :, 0:3], gt_ds[:, :, 0:3])
_, retb, _, retd = tf_nndistance.nn_distance(coarse[:, :, 0:3],
gt_ds[:, :, 0:3])
for i in range(np.shape(gt_ds)[0]):
index = tf.expand_dims(retb[i], -1)
sem_feat = tf.nn.softmax(coarse[i, :, 3:], -1)
sem_gt = tf.cast(
tf.one_hot(
tf.gather_nd(tf.cast(gt_ds[i, :, 3] * 80 * 12, tf.int32),
index), 12), tf.float32)
loss_sem_coarse = tf.reduce_mean(-tf.reduce_sum(
0.9 * sem_gt * tf.log(1e-6 + sem_feat) + (1 - 0.9) *
(1 - sem_gt) * tf.log(1e-6 + 1 - sem_feat), [1]))
loss_coarse += loss_sem_coarse
add_train_summary('train/coarse_loss', loss_coarse)
update_coarse = add_valid_summary('valid/coarse_loss', loss_coarse)
loss_fine = 10 * chamfer(fine[:, :, 0:3], gt[:, :, 0:3])
_, retb, _, retd = tf_nndistance.nn_distance(fine[:, :, 0:3], gt[:, :,
0:3])
for i in range(np.shape(gt)[0]):
index = tf.expand_dims(retb[i], -1)
sem_feat = tf.nn.softmax(fine[i, :, 3:], -1)
sem_gt = tf.cast(
tf.one_hot(
tf.gather_nd(tf.cast(gt[i, :, 3] * 80 * 12, tf.int32),
index), 12), tf.float32)
loss_sem_fine = tf.reduce_mean(-tf.reduce_sum(
0.9 * sem_gt * tf.log(1e-6 + sem_feat) + (1 - 0.9) *
(1 - sem_gt) * tf.log(1e-6 + 1 - sem_feat), [1]))
loss_fine += loss_sem_fine
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 test(args):
inputs = tf.placeholder(tf.float32, (1, None, 3))
gt = tf.placeholder(tf.float32, (1, args.num_gt_points, 3))
model_module = importlib.import_module('.%s' % args.model_type, 'models')
model = model_module.Model(inputs, gt, tf.constant(1.0))
output = tf.placeholder(tf.float32, (1, args.num_gt_points, 3))
cd_op = chamfer(output, gt)
emd_op = earth_mover(output, gt)
config = tf.ConfigProto()
config.gpu_options.allow_growth = True
config.allow_soft_placement = True
sess = tf.Session(config=config)
saver = tf.train.Saver()
saver.restore(sess, args.checkpoint)
os.makedirs(args.results_dir, exist_ok=True)
csv_file = open(os.path.join(args.results_dir, 'results.csv'), 'w')
writer = csv.writer(csv_file)
writer.writerow(['id', 'cd', 'emd'])
with open(args.list_path) as file:
model_list = file.read().splitlines()
total_time = 0
total_cd = 0
total_emd = 0
cd_per_cat = {}
emd_per_cat = {}
for i, model_id in enumerate(model_list):
partial = read_pcd(
os.path.join(args.data_dir, 'partial', '%s.pcd' % model_id))
complete = read_pcd(
os.path.join(args.data_dir, 'complete', '%s.pcd' % model_id))
start = time.time()
completion = sess.run(model.outputs, feed_dict={inputs: [partial]})
total_time += time.time() - start
cd, emd = sess.run([cd_op, emd_op],
feed_dict={
output: completion,
gt: [complete]
})
total_cd += cd
total_emd += emd
writer.writerow([model_id, cd, emd])
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)
if i % args.plot_freq == 0:
os.makedirs(os.path.join(args.results_dir, 'plots', synset_id),
exist_ok=True)
plot_path = os.path.join(args.results_dir, 'plots', synset_id,
'%s.png' % model_id)
plot_pcd_three_views(plot_path, [partial, completion[0], complete],
['input', 'output', 'ground truth'],
'CD %.4f EMD %.4f' % (cd, emd),
[5, 0.5, 0.5])
if args.save_pcd:
os.makedirs(os.path.join(args.results_dir, 'pcds', synset_id),
exist_ok=True)
save_pcd(
os.path.join(args.results_dir, 'pcds', '%s.pcd' % model_id),
completion[0])
csv_file.close()
sess.close()
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]))
def test(args):
inputs = tf.placeholder(tf.float32, (1, None, 3))
npts = tf.placeholder(tf.int32, (1, ))
gt = tf.placeholder(tf.float32, (1, args.num_gt_points, 6))
model_module = importlib.import_module('.%s' % args.model_type, 'models')
model = model_module.Model(inputs, npts, gt, tf.constant(1.0),
args.num_channel)
output = tf.placeholder(tf.float32,
(1, args.num_gt_points, 3 + args.num_channel))
cd_op = chamfer(output[:, :, 0:3], gt[:, :, 0:3])
emd_op = earth_mover(output[:, :, 0:3], gt[:, :, 0:3])
config = tf.ConfigProto()
config.gpu_options.allow_growth = True
config.allow_soft_placement = True
sess = tf.Session(config=config)
saver = tf.train.Saver()
saver.restore(sess, args.checkpoint)
os.makedirs(args.results_dir, exist_ok=True)
csv_file = open(os.path.join(args.results_dir, 'results.csv'), 'w')
writer = csv.writer(csv_file)
writer.writerow(['id', 'cd', 'emd'])
with open(args.list_path) as file:
model_list = file.read().splitlines()
total_time = 0
total_cd = 0
total_emd = 0
cd_per_cat = {}
emd_per_cat = {}
np.random.seed(1)
for i, model_id in enumerate(model_list):
if args.experiment == 'shapenet':
synset_id, model_id = model_id.split('/')
partial = read_pcd(
os.path.join(args.data_dir, 'partial', synset_id,
'%s.pcd' % model_id))
complete = read_pcd(
os.path.join(args.data_dir, 'complete', synset_id,
'%s.pcd' % model_id))
elif args.experiment == 'suncg':
synset_id = 'all_rooms'
partial = read_pcd(
os.path.join(args.data_dir, 'pcd_partial',
'%s.pcd' % model_id))
complete = read_pcd(
os.path.join(args.data_dir, 'pcd_complete',
'%s.pcd' % model_id))
if args.rotate:
angle = np.random.rand(1) * 2 * np.pi
partial = np.stack([
np.cos(angle) * partial[:, 0] - np.sin(angle) * partial[:, 2],
partial[:, 1],
np.sin(angle) * partial[:, 0] + np.cos(angle) * partial[:, 2]
],
axis=-1)
complete = np.stack([
np.cos(angle) * complete[:, 0] -
np.sin(angle) * complete[:, 2], complete[:, 1],
np.sin(angle) * complete[:, 0] +
np.cos(angle) * complete[:, 2], complete[:, 3], complete[:, 4],
complete[:, 5]
],
axis=-1)
partial = partial[:, :3]
complete = resample_pcd(complete, 16384)
start = time.time()
completion1, completion2, mesh_out = sess.run(
[model.outputs1, model.outputs2, model.gt_can],
feed_dict={
inputs: [partial],
npts: [partial.shape[0]],
gt: [complete]
})
completion1[0][:, (3 + args.num_channel):] *= 0
completion2[0][:, (3 + args.num_channel):] *= 0
mesh_out[0][:, (3 + args.num_channel):] *= 0
total_time += time.time() - start
# cd, emd = sess.run([cd_op, emd_op],
cd, emd = sess.run([cd_op, cd_op],
feed_dict={
output: completion2,
gt: [complete]
})
total_cd += cd
total_emd += emd
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)
writer.writerow([model_id, cd, emd])
if i % args.plot_freq == 0:
os.makedirs(
os.path.join(args.results_dir, 'plots', synset_id),
exist_ok=True)
plot_path = os.path.join(args.results_dir, 'plots', synset_id,
'%s.png' % model_id)
plot_pcd_three_views(
plot_path, [
partial, completion1[0], completion2[0], mesh_out[0],
complete
], ['input', 'coarse', 'fine', 'mesh', 'ground truth'],
'CD %.4f EMD %.4f' % (cd, emd), [5, 0.5, 0.5, 0.5, 0.5],
num_channel=args.num_channel)
if args.save_pcd:
os.makedirs(
os.path.join(args.results_dir, 'input', synset_id),
exist_ok=True)
pts_coord = partial[:, 0:3]
pts_color = matplotlib.cm.cool((partial[:, 1]))[:, 0:3]
# save_pcd(os.path.join(args.results_dir, 'input', synset_id, '%s.ply' % model_id), np.concatenate((pts_coord, pts_color), -1))
pcd = PointCloud()
pcd.points = Vector3dVector(pts_coord)
pcd.colors = Vector3dVector(pts_color)
write_point_cloud(
os.path.join(args.results_dir, 'input', synset_id,
'%s.ply' % model_id),
pcd,
write_ascii=True)
os.makedirs(
os.path.join(args.results_dir, 'output1', synset_id),
exist_ok=True)
pts_coord = completion1[0][:, 0:3]
pts_color = matplotlib.cm.Set1(
(np.argmax(completion1[0][:, 3:3 + args.num_channel], -1) +
1) / args.num_channel - 0.5 / args.num_channel)[:, 0:3]
# pts_color = matplotlib.cm.tab20((np.argmax(completion1[0][:, 3:3+args.num_channel], -1) + 1)/args.num_channel - 0.5/args.num_channel)[:,0:3]
# save_pcd(os.path.join(args.results_dir, 'output1', synset_id, '%s.ply' % model_id), np.concatenate((pts_coord, pts_color), -1))
pcd.points = Vector3dVector(pts_coord)
pcd.colors = Vector3dVector(pts_color)
write_point_cloud(
os.path.join(args.results_dir, 'output1', synset_id,
'%s.ply' % model_id),
pcd,
write_ascii=True)
os.makedirs(
os.path.join(args.results_dir, 'output2', synset_id),
exist_ok=True)
pts_coord = completion2[0][:, 0:3]
pts_color = matplotlib.cm.Set1(
(np.argmax(completion2[0][:, 3:3 + args.num_channel], -1) +
1) / args.num_channel - 0.5 / args.num_channel)[:, 0:3]
# pts_color = matplotlib.cm.tab20((np.argmax(completion2[0][:, 3:3+args.num_channel], -1) + 1)/args.num_channel - 0.5/args.num_channel)[:,0:3]
# save_pcd(os.path.join(args.results_dir, 'output2', synset_id, '%s.ply' % model_id), np.concatenate((pts_coord, pts_color), -1))
pcd.points = Vector3dVector(pts_coord)
pcd.colors = Vector3dVector(pts_color)
write_point_cloud(
os.path.join(args.results_dir, 'output2', synset_id,
'%s.ply' % model_id),
pcd,
write_ascii=True)
#######
os.makedirs(
os.path.join(args.results_dir, 'regions', synset_id),
exist_ok=True)
for idx in range(3, 3 + args.num_channel):
val_min = np.min(completion2[0][:, idx])
val_max = np.max(completion2[0][:, idx])
pts_color = 0.8 * matplotlib.cm.Reds(
(completion2[0][:, idx] - val_min) /
(val_max - val_min))[:, 0:3]
pts_color += 0.2 * matplotlib.cm.gist_gray(
(completion2[0][:, idx] - val_min) /
(val_max - val_min))[:, 0:3]
pcd.colors = Vector3dVector(pts_color)
write_point_cloud(
os.path.join(args.results_dir, 'regions', synset_id,
'%s_%s.ply' % (model_id, idx - 3)),
pcd,
write_ascii=True)
os.makedirs(
os.path.join(args.results_dir, 'gt', synset_id), exist_ok=True)
pts_coord = complete[:, 0:3]
if args.experiment == 'shapenet':
pts_color = matplotlib.cm.cool(complete[:, 1])[:, 0:3]
elif args.experiment == 'suncg':
pts_color = matplotlib.cm.Set1(complete[:, 3] -
0.5 / args.num_channel)[:, 0:3]
# save_pcd(os.path.join(args.results_dir, 'gt', synset_id, '%s.ply' % model_id), np.concatenate((pts_coord, pts_color), -1))
pcd.points = Vector3dVector(pts_coord)
pcd.colors = Vector3dVector(pts_color)
write_point_cloud(
os.path.join(args.results_dir, 'gt', synset_id,
'%s.ply' % model_id),
pcd,
write_ascii=True)
sess.close()
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)))
writer.writerow([
total_time / len(model_list), total_cd / len(model_list),
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]))
writer.writerow([synset_id, 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]))
writer.writerow([synset_id, np.mean(emd_per_cat[synset_id])])
csv_file.close()
