def next_batch(self, batch_size, augment=True, dropout=True):
batch_data = []
batch_label = []
batch_weights = []
feature_size = 0
for _ in range(batch_size):
if not self.z_feature:
data, label, colors, weights = self.next_input(dropout)
if self.use_color:
feature_size = 3
data = np.hstack((data, colors))
else:
feature_size = 1
data, z_norm, label, colors, weights = self.next_input(dropout)
if self.use_color:
feature_size = 4
data = np.hstack((data, colors))
data = np.hstack((data, z_norm))
batch_data.append(data)
batch_label.append(label)
batch_weights.append(weights)
batch_data = np.array(batch_data)
batch_label = np.array(batch_label)
batch_weights = np.array(batch_weights)
# Optional batch augmentation
if augment and feature_size:
batch_data = provider.rotate_feature_point_cloud(
batch_data, feature_size)
if augment and not feature_size:
batch_data = provider.rotate_point_cloud(batch_data)
return batch_data, batch_label, batch_weights
def _augment_batch_data(self, batch_data):
rotated_data = provider.rotate_point_cloud(batch_data[:, :, 1:4])
rotated_data = provider.rotate_perturbation_point_cloud(rotated_data)
jittered_data = provider.random_scale_point_cloud(rotated_data)
jittered_data = provider.shift_point_cloud(jittered_data)
jittered_data = provider.jitter_point_cloud(jittered_data)
batch_data[:, :, 1:4] = jittered_data
return provider.shuffle_points(batch_data)
def train_one_epoch(sess, ops, train_writer):
""" ops: dict mapping from string to tf ops """
is_training = True
log_string(str(datetime.now()))
# Make sure batch data is of same size
cur_batch_data = np.zeros((BATCH_SIZE, NUM_POINT, TRAIN_DATASET.num_channel()))
cur_batch_label = np.zeros((BATCH_SIZE), dtype=np.int32)
total_correct = 0
total_seen = 0
loss_sum = 0
num_batch = int(len(TRAIN_DATASET) / BATCH_SIZE)
with tqdm(total=num_batch) as pbar:
while TRAIN_DATASET.has_next_batch():
batch_data, batch_label = TRAIN_DATASET.next_batch()
if FLAGS.rotation:
if FLAGS.normal:
batch_data = provider.rotate_point_cloud_with_normal(batch_data)
batch_data = provider.rotate_perturbation_point_cloud_with_normal(batch_data)
else:
batch_data = provider.rotate_point_cloud(batch_data)
batch_data = provider.rotate_perturbation_point_cloud(batch_data)
batch_data[:, :, 0:3] = provider.random_scale_point_cloud(batch_data[:, :, 0:3])
batch_data[:, :, 0:3] = provider.shift_point_cloud(batch_data[:, :, 0:3])
batch_data = provider.shuffle_points(batch_data)
batch_data = provider.random_point_dropout(batch_data)
bsize = batch_data.shape[0]
cur_batch_data[0:bsize, ...] = batch_data
cur_batch_label[0:bsize] = batch_label
feed_dict = {ops['pointclouds_pl']: cur_batch_data,
ops['labels_pl']: cur_batch_label,
ops['is_training_pl']: is_training, }
summary, step, _, loss_val, pred_val = sess.run([ops['merged'], ops['step'],
ops['train_op'], ops['loss'], ops['pred']],
feed_dict=feed_dict)
train_writer.add_summary(summary, step)
pred_val = np.argmax(pred_val, 1)
correct = np.sum(pred_val[0:bsize] == batch_label[0:bsize])
total_correct += correct
total_seen += bsize
loss_sum += loss_val
if FLAGS.debug:
break
pbar.update(1)
log_string('Current Learning Rate %.6f' % sess.run(get_learning_rate(step)))
log_string('Training loss: %f' % (loss_sum / num_batch))
log_string('Training accuracy: %f\n' % (total_correct / float(total_seen)))
TRAIN_DATASET.reset()
def _augment_batch_data(self, batch_data):
if self.normal_channel:
rotated_data = provider.rotate_point_cloud_with_normal(batch_data)
rotated_data = provider.rotate_perturbation_point_cloud_with_normal(
rotated_data
)
else:
rotated_data = provider.rotate_point_cloud(batch_data)
rotated_data = provider.rotate_perturbation_point_cloud(rotated_data)
jittered_data = provider.random_scale_point_cloud(rotated_data[:, :, 0:3])
jittered_data = provider.shift_point_cloud(jittered_data)
jittered_data = provider.jitter_point_cloud(jittered_data)
rotated_data[:, :, 0:3] = jittered_data
return provider.shuffle_points(rotated_data)
def next_batch(self,batch_size,augment=True,dropout=True):
batch_data = []
batch_label = []
batch_weights = []
for batch in range(batch_size):
data, label, weights = self.next_input()
batch_data.append(data)
batch_label.append(label)
batch_weights.append(weights)
batch_data = np.array(batch_data)
batch_label = np.array(batch_label)
batch_weights = np.array(batch_weights)
# Optionnal batch augmentation
if augment:
batch_data = provider.rotate_point_cloud(batch_data)
return batch_data, batch_label, batch_weights
def eval_one_epoch(sess, ops, test_writer):
"""Evaluate one epoch
Args:
sess (tf.Session): the session to evaluate tensors and operations
ops (tf.Operation): the dict of operations
test_writer (tf.summary.FileWriter): enable to log the evaluation on TensorBoard
Returns:
float: the overall accuracy computed on the test set
"""
global EPOCH_CNT
is_training = False
test_idxs = np.arange(0, len(TEST_DATASET))
num_batches = len(TEST_DATASET) / BATCH_SIZE
# Reset metrics
loss_sum = 0
confusion_matrix = metric.ConfusionMatrix(NUM_CLASSES)
log_string(str(datetime.now()))
log_string('---- EPOCH %03d EVALUATION ----' % (EPOCH_CNT))
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx + 1) * BATCH_SIZE
batch_data, batch_label, batch_smpw = get_batch(
TEST_DATASET, test_idxs, start_idx, end_idx)
aug_data = provider.rotate_point_cloud(batch_data)
feed_dict = {
ops['pointclouds_pl']: aug_data,
ops['labels_pl']: batch_label,
ops['smpws_pl']: batch_smpw,
ops['is_training_pl']: is_training
}
summary, step, loss_val, pred_val = sess.run(
[ops['merged'], ops['step'], ops['loss'], ops['pred']],
feed_dict=feed_dict)
test_writer.add_summary(summary, step)
pred_val = np.argmax(pred_val, 2) # BxN
# Update metrics
for i in range(len(pred_val)):
for j in range(len(pred_val[i])):
confusion_matrix.count_predicted(batch_label[i][j],
pred_val[i][j])
loss_sum += loss_val
iou_per_class = confusion_matrix.get_intersection_union_per_class()
# Display metrics
log_string('eval mean loss: %f' % (loss_sum / float(num_batches)))
log_string("Overall accuracy : %f" %
(confusion_matrix.get_overall_accuracy()))
log_string("Average IoU : %f" %
(confusion_matrix.get_average_intersection_union()))
for i in range(1, NUM_CLASSES):
log_string("IoU of %s : %f" % (data.LABELS_NAMES[i], iou_per_class[i]))
EPOCH_CNT += 5
return confusion_matrix.get_overall_accuracy()
def train_one_epoch(sess, ops, train_writer):
"""Train one epoch
Args:
sess (tf.Session): the session to evaluate Tensors and ops
ops (dict of tf.Operation): contain multiple operation mapped with with strings
train_writer (tf.FileSaver): enable to log the training with TensorBoard
"""
is_training = True
# Shuffle train samples
train_idxs = np.arange(0, len(TRAIN_DATASET))
np.random.shuffle(train_idxs)
num_batches = len(TRAIN_DATASET) / BATCH_SIZE
log_string(str(datetime.now()))
# Reset metrics
loss_sum = 0
confusion_matrix = metric.ConfusionMatrix(NUM_CLASSES)
# Train over num_batches batches
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx + 1) * BATCH_SIZE
batch_data, batch_label, batch_smpw = get_batch(
TRAIN_DATASET, train_idxs, start_idx, end_idx, True, INPUT_DROPOUT)
# Augment batched point clouds by z-axis rotation
aug_data = provider.rotate_point_cloud(batch_data)
# Get predicted labels
feed_dict = {
ops['pointclouds_pl']: aug_data,
ops['labels_pl']: batch_label,
ops['smpws_pl']: batch_smpw,
ops['is_training_pl']: is_training,
}
summary, step, _, loss_val, pred_val, _ = sess.run([
ops['merged'], ops['step'], ops['train_op'], ops['loss'],
ops['pred'], ops['update_iou']
],
feed_dict=feed_dict)
train_writer.add_summary(summary, step)
pred_val = np.argmax(pred_val, 2)
# Update metrics
for i in range(len(pred_val)):
for j in range(len(pred_val[i])):
confusion_matrix.count_predicted(batch_label[i][j],
pred_val[i][j])
loss_sum += loss_val
# Every 10 batches, print metrics and reset them
if (batch_idx + 1) % 10 == 0:
log_string(' -- %03d / %03d --' % (batch_idx + 1, num_batches))
log_string('mean loss: %f' % (loss_sum / 10))
log_string("Overall accuracy : %f" %
(confusion_matrix.get_overall_accuracy()))
log_string("Average IoU : %f" %
(confusion_matrix.get_average_intersection_union()))
iou_per_class = confusion_matrix.get_intersection_union_per_class()
for i in range(1, NUM_CLASSES):
log_string("IoU of %s : %f" %
(data.LABELS_NAMES[i], iou_per_class[i]))
loss_sum = 0
confusion_matrix = metric.ConfusionMatrix(NUM_CLASSES)
