def main():
params = parse_args()
conf = get_conf(params)
ckpt_path = os.path.join('./data/', params['experiment_name'], params['class_name'])
epoch = conf.training_epochs
reset_tf_graph()
ae = PointNetAutoEncoder(conf.experiment_name, conf)
ae.restore_model(ckpt_path, epoch, verbose=True)
test_dir = './s3dis/Area_6/*/Annotations/{}_*.txt'
all_pc_data = load_all_point_clouds_under_folder(test_dir, params['class_name'], n_points=conf.n_input[0], with_color=conf.input_color, n_threads=20, verbose=True)
all_pc_data.shuffle_data()
feed_pc, feed_model_names, _ = all_pc_data.next_batch(10)
feed_pc_v, feed_pc_v_org = np.split(np.array([get_visible_points(x, org=True) for x in feed_pc]), 2, axis=1) # [normalized_pcs, original_pcs]
feed_pc_v = np.array([x[0] for x in feed_pc_v])
feed_pc_v_org = np.array([x[0] for x in feed_pc_v_org])
ae_reconstructions, v_reconstructions, _ = ae.reconstruct([feed_pc, feed_pc_v], compute_loss=False)
print('finish inference')
visualize(params['experiment_name'], params['class_name'], feed_pc[:, :, :3], ae_reconstructions, feed_pc_v_org[:, :, :3], v_reconstructions)
'chamfer_nn_complete': 'chamfer_nn_idx_complete_test_set'
}
nn_idx = load_data(data_path, files, [nn_idx_dict[conf.target_pc_idx_type]])
correct_pred = None
if conf.correct_pred_only:
pc_labels, pc_pred_labels = load_data(
data_path, files, ['pc_label_test_set', 'pc_pred_labels_test_set'])
correct_pred = (pc_labels == pc_pred_labels)
# load indices for attack
attack_pc_idx = np.load(osp.join(top_out_dir, flags.attack_pc_idx))
attack_pc_idx = attack_pc_idx[:, :conf.num_pc_for_attack]
# build classifier model and reload a saved model
reset_tf_graph()
classifier = PointNetClassifier(classifier_path,
flags.classifier_restore_epoch,
num_points=flags.num_points,
batch_size=10,
num_classes=flags.num_classes)
classes_for_attack = conf.class_names
classes_for_target = conf.class_names
for i in range(len(pc_classes)):
pc_class_name = pc_classes[i]
if pc_class_name not in classes_for_attack:
continue
save_dir = create_dir(osp.join(output_path, pc_class_name))
def main():
args, params = parse_args()
conf = get_conf(params)
print(conf)
if args.tiny:
train_dir = './s3dis/Area_4/*/Annotations/{}_*.txt'
else:
train_dir = './s3dis/Area_[1-5]/*/Annotations/{}_*.txt'
test_dir = './s3dis/Area_6/*/Annotations/{}_*.txt'
reset_tf_graph()
ae = PointNetAutoEncoder(conf.experiment_name, conf)
buf_size = 1 # Make 'training_stats' file to flush each output line regarding training.
fout = open(osp.join(conf.train_dir, 'train_stats.txt'), 'a', buf_size)
all_pc_data = load_all_point_clouds_under_folder(
train_dir,
params['class_name'],
n_points=conf.n_input[0],
with_color=conf.input_color,
n_threads=20,
verbose=True)
print('Start training')
train_stats = ae.train(all_pc_data, conf, log_file=fout)
fout.close()
print('Finish training')
if visualize:
print('Start visualizing')
conf.z_rotate = False
conf.gauss_augment = None
ckpt_path = os.path.join('./data/', params['experiment_name'],
params['class_name'])
epoch = conf.training_epochs
reset_tf_graph()
ae = PointNetAutoEncoder(conf.experiment_name, conf)
ae.restore_model(ckpt_path, epoch, verbose=True)
all_pc_data = load_all_point_clouds_under_folder(
test_dir,
params['class_name'],
n_points=conf.n_input[0],
with_color=conf.input_color,
n_threads=20,
verbose=True)
all_pc_data.shuffle_data()
feed_pc, feed_model_names, _ = all_pc_data.next_batch(10)
feed_pc_v, feed_pc_v_org = np.split(
np.array([get_visible_points(x, org=True) for x in feed_pc]),
2,
axis=1) # [normalized_pcs, original_pcs]
feed_pc_v = np.array([x[0] for x in feed_pc_v])
feed_pc_v_org = np.array([x[0] for x in feed_pc_v_org])
ae_reconstructions, v_reconstructions, _ = ae.reconstruct(
[feed_pc, feed_pc_v], compute_loss=False)
visualize(params['experiment_name'], params['class_name'],
feed_pc[:, :, :3], ae_reconstructions,
feed_pc_v_org[:, :, :3], v_reconstructions, 3)
print('Finish visualize')
def main():
params = parse_args()
conf = get_conf(params)
conf.gauss_augment = False
conf.z_rotate = False
ckpt_path = os.path.join('./data/', params['experiment_name'],
params['class_name'])
epoch = conf.training_epochs
reset_tf_graph()
ae = PointNetAutoEncoder(conf.experiment_name, conf)
ae.restore_model(ckpt_path, epoch, verbose=True)
test_dir = './s3dis/Area_6/*/Annotations/{}_*.txt'
all_pc_data = load_all_point_clouds_under_folder(
test_dir,
params['class_name'],
n_points=conf.n_input[0],
with_color=conf.input_color,
n_threads=20,
verbose=True)
ae_recon, tl_recon, data_loss, labels, gt, gt_tl = ae.evaluate(
all_pc_data, conf) # gt_tl is not normalized to compare with gt
if conf.input_color:
gt = gt[:, :, :3]
ae_loss = conf.loss # Which distance to use for the matchings.
assert ae_loss in ['emd', 'chamfer']
if ae_loss == 'emd':
use_EMD = True
else:
use_EMD = False # Will use Chamfer instead.
batch_size = 100 # Find appropriate number that fits in GPU.
normalize = True # Matched distances are divided by the number of points of thepoint-clouds.
ae_mmd, ae_matched_dists = minimum_mathing_distance(ae_recon,
gt,
batch_size,
normalize=normalize,
use_EMD=use_EMD)
tl_mmd, tl_matched_dists = minimum_mathing_distance(tl_recon,
gt,
batch_size,
normalize=normalize,
use_EMD=use_EMD)
ae_cov, ae_matched_ids = coverage(ae_recon,
gt,
batch_size,
normalize=normalize,
use_EMD=use_EMD)
tl_cov, tl_matched_ids = coverage(tl_recon,
gt,
batch_size,
normalize=normalize,
use_EMD=use_EMD)
ae_jsd = jsd_between_point_cloud_sets(ae_recon, gt, resolution=28)
tl_jsd = jsd_between_point_cloud_sets(tl_recon, gt, resolution=28)
result_file = os.path.join(
'result',
params['experiment_name'] + '_' + params['class_name'] + '.txt')
with open(result_file, 'w') as f:
f.write('ae_mmd' + str(ae_mmd) + '\n')
f.write('tl_mmd' + str(tl_mmd) + '\n')
# f.write('ae_matched_dists' + str(ae_matched_dists) + '\n')
f.write('ae_cov' + str(ae_cov) + '\n')
f.write('tl_cov' + str(tl_cov) + '\n')
# f.write('ae_matched_ids' + str(ae_matched_ids) + '\n')
f.write('ae_jsd' + str(ae_jsd) + '\n')
f.write('tl_jsd' + str(tl_jsd) + '\n')
def get_chamfer_nn():
start_time = time.time()
num_examples_all, num_points, _ = point_clouds.shape
chamfer_batch_size = 10
# build chamfer graph
reset_tf_graph()
source_pc_pl = tf.placeholder(tf.float32, shape=[None, num_points, 3])
target_pc_pl = tf.placeholder(tf.float32, shape=[None, num_points, 3])
dists_s_t, _, dists_t_s, _ = nn_distance(source_pc_pl, target_pc_pl)
chamfer_dist = tf.reduce_mean(dists_s_t, axis=1) + tf.reduce_mean(
dists_t_s, axis=1)
sess = tf.Session('')
# compute chamfer distance matrix
point_clouds_curr = point_clouds[flags.pc_start_idx:flags.pc_start_idx +
flags.pc_batch_size]
num_examples_curr = len(point_clouds_curr)
chamfer_dist_mat_curr = -1 * np.ones([num_examples_all, num_examples_curr],
dtype=np.float32)
source_pc = np.tile(np.expand_dims(point_clouds_curr, axis=0),
[num_examples_all, 1, 1, 1])
target_pc = np.tile(np.expand_dims(point_clouds, axis=1),
[1, num_examples_curr, 1, 1])
for i in range(0, num_examples_all, chamfer_batch_size):
for j in range(0, num_examples_curr, chamfer_batch_size):
#print('i %d out of %d, j %d out of %d' %
# (min(i + chamfer_batch_size, num_examples_all), num_examples_all, min(j + chamfer_batch_size, num_examples_curr), num_examples_curr))
sources = source_pc[i:i + chamfer_batch_size,
j:j + chamfer_batch_size]
targets = target_pc[i:i + chamfer_batch_size,
j:j + chamfer_batch_size]
s_batch = np.reshape(sources, [-1, num_points, 3])
t_batch = np.reshape(targets, [-1, num_points, 3])
feed_dict = {source_pc_pl: s_batch, target_pc_pl: t_batch}
dist_batch = sess.run(chamfer_dist, feed_dict=feed_dict)
dist_batch_reshape = np.reshape(dist_batch, sources.shape[:2])
chamfer_dist_mat_curr[i:i + chamfer_batch_size, j:j +
chamfer_batch_size] = dist_batch_reshape
assert chamfer_dist_mat_curr.min(
) >= 0, 'the chamfer_dist_mat_curr matrix was not filled correctly'
# save current chamfer distance data
chamfer_dist_mat_file_name = '_'.join(['chamfer_dist_mat_complete'] +
file_name_parts[-3:])
chamfer_dist_mat_file_path = osp.join(data_path,
chamfer_dist_mat_file_name)
if osp.exists(chamfer_dist_mat_file_path):
chamfer_dist_mat = np.load(chamfer_dist_mat_file_path)
else:
chamfer_dist_mat = -1 * np.ones([num_examples_all, num_examples_all],
dtype=np.float32)
chamfer_dist_mat[:, flags.pc_start_idx:flags.pc_start_idx +
flags.pc_batch_size] = chamfer_dist_mat_curr
np.save(chamfer_dist_mat_file_path, chamfer_dist_mat)
duration = time.time() - start_time
print(
'start index %d end index %d, out of size %d, duration (minutes): %.2f'
% (flags.pc_start_idx,
min(flags.pc_start_idx + flags.pc_batch_size,
num_examples_all), num_examples_all, duration / 60.0))
if chamfer_dist_mat.min() >= 0:
# nearest neighbors indices
chamfer_nn_idx = sort_dist_mat(chamfer_dist_mat)
chamfer_nn_idx_file_name = '_'.join(['chamfer_nn_idx_complete'] +
file_name_parts[-3:])
chamfer_nn_idx_file_path = osp.join(data_path,
chamfer_nn_idx_file_name)
np.save(chamfer_nn_idx_file_path, chamfer_nn_idx)