def train(train_dataloader, test_dataloader, model, criterion, optimizer,
lr_scheduler, bnm_scheduler, args, num_batch):
PointcloudScaleAndTranslate = d_utils.PointcloudScaleAndTranslate(
) # initialize augmentation
global g_acc
g_acc = 0.91 # only save the model whose acc > 0.91
batch_count = 0
model.train()
for epoch in range(args.epochs):
for i, data in enumerate(train_dataloader, 0):
if lr_scheduler is not None:
lr_scheduler.step(epoch)
if bnm_scheduler is not None:
bnm_scheduler.step(epoch - 1)
points, target = data
points, target = points.cuda(), target.cuda()
points, target = Variable(points), Variable(target)
# farthest 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()
fps_idx = fps_idx[:,
np.random.choice(1200, args.num_points, False)]
points = pointnet2_utils.gather_operation(
points.transpose(1, 2).contiguous(),
fps_idx).transpose(1, 2).contiguous() # (B, N, 3)
# augmentation
points.data = PointcloudScaleAndTranslate(points.data)
optimizer.zero_grad()
pred = model(points)
target = target.view(-1)
loss = criterion(pred, target)
loss.backward()
optimizer.step()
if i % args.print_freq_iter == 0:
print(
'[epoch %3d: %3d/%3d] \t train loss: %0.6f \t lr: %0.5f' %
(epoch + 1, i, num_batch, loss.data.clone(),
lr_scheduler.get_lr()[0]))
batch_count += 1
# validation in between an epoch
if args.evaluate and batch_count % int(
args.val_freq_epoch * num_batch) == 0:
validate(test_dataloader, model, criterion, args, batch_count)
def train(train_dataloader, test_dataloader, model, criterion, optimizer,
lr_scheduler, bnm_scheduler, args, num_batch):
PointcloudScaleAndTranslate = d_utils.PointcloudScaleAndTranslate(
) # initialize augmentation
global Class_mIoU, Inst_mIoU
Class_mIoU, Inst_mIoU = 0.83, 0.85
batch_count = 0
#model.train()
for epoch in range(args.epochs):
model.train()
losses = []
start_time = time.time()
for i, data in enumerate(train_dataloader):
points, target, cls = data
target = target.cuda()
points = points.cuda()
one_hot_target = to_categorical(target, 50)
print('target', target.shape)
# augmentation
points = PointcloudScaleAndTranslate(points)
optimizer.zero_grad()
batch_one_hot_cls = np.zeros((len(cls), 16)) # 16 object classes
for b in range(len(cls)):
batch_one_hot_cls[b, int(cls[b])] = 1
batch_one_hot_cls = torch.from_numpy(
batch_one_hot_cls).float().cuda()
# batch_one_hot_cls = Variable(batch_one_hot_cls.float().cuda())
pred, context = model(points, batch_one_hot_cls)
pred = pred.view(-1, args.num_classes)
target = target.view(-1, 1)[:, 0]
loss = criterion(pred, target, None, context, one_hot_target)
loss.backward()
optimizer.step()
losses.append(loss.item())
if lr_scheduler is not None:
lr_scheduler.step(epoch)
if bnm_scheduler is not None:
bnm_scheduler.step(epoch - 1)
#if i % args.print_freq_iter == 0:
# print('[epoch %3d: %3d/%3d] \t train loss: %0.6f \t lr: %0.5f' %(epoch+1, i, num_batch, loss.data.clone(), lr_scheduler.get_lr()[0]))
batch_count += 1
# validation in between an epoch
#if (epoch < 3 or epoch > 40) and args.evaluate and batch_count % int(args.val_freq_epoch * num_batch) == 0:
end_time = time.time()
print('[epoch %3d time=%d s] \t train loss: %0.6f \t lr: %0.5f' %
(epoch + 1, end_time - start_time, np.array(losses).mean(),
lr_scheduler.get_lr()[0]))
validate(test_dataloader, model, criterion, args, batch_count)
def train(train_dataloader, test_dataloader_z, test_dataloader_so3, model,
criterion, optimizer, lr_scheduler, bnm_scheduler, args, num_batch):
global Class_mIoU, Inst_mIoU
Class_mIoU, Inst_mIoU = 0.75, 0.75
batch_count = 0
aug = d_utils.SO3Rotate()
model.train()
for epoch in range(args.epochs):
for i, data in enumerate(train_dataloader, 0):
if lr_scheduler is not None:
lr_scheduler.step(epoch)
if bnm_scheduler is not None:
bnm_scheduler.step(epoch - 1)
points, norm, target, cls = data
points, norm, target = points.cuda(), norm.cuda(), target.cuda()
# RS-CNN performs a translation to the input first
if args.model == "rscnn_msn":
points.data = d_utils.PointcloudScaleAndTranslate()(
points.data)
points.data, norm.data = aug(points.data, norm.data)
optimizer.zero_grad()
batch_one_hot_cls = np.zeros((len(cls), 16)) # 16 object classes
for b in range(len(cls)):
batch_one_hot_cls[b, int(cls[b])] = 1
batch_one_hot_cls = torch.from_numpy(batch_one_hot_cls)
batch_one_hot_cls = batch_one_hot_cls.float().cuda()
pred = model(points, norm, batch_one_hot_cls)
pred = pred.view(-1, args.num_classes)
target = target.view(-1, 1)[:, 0]
loss = criterion(pred, target)
loss.backward()
optimizer.step()
if i % args.print_freq_iter == 0:
print(
'[epoch %3d: %3d/%3d] \t train loss: %0.6f \t lr: %0.5f' %
(epoch + 1, i, num_batch, loss.data.clone(),
lr_scheduler.get_lr()[0]))
batch_count += 1
if args.evaluate and batch_count % int(
args.val_freq_epoch * num_batch) == 0:
# validate(test_dataloader_z, model, criterion, args, batch_count, 'z')
validate(test_dataloader_so3, model, criterion, args,
batch_count, 'so3')
def train(train_dataloader, test_dataloader, model, criterion, optimizer,
lr_scheduler, bnm_scheduler, args, num_batch):
PointcloudScaleAndTranslate = d_utils.PointcloudScaleAndTranslate(
) # initialize augmentation
global Class_mIoU, Inst_mIoU
Class_mIoU, Inst_mIoU = 0.83, 0.85
batch_count = 0
model.train()
for epoch in range(args.epochs):
for i, data in enumerate(train_dataloader, 0):
if lr_scheduler is not None:
lr_scheduler.step(epoch)
if bnm_scheduler is not None:
bnm_scheduler.step(epoch - 1)
points, target, cls = data
points, target = points.cuda(), target.cuda()
points, target = Variable(points), Variable(target)
# augmentation
points.data = PointcloudScaleAndTranslate(points.data)
optimizer.zero_grad()
batch_one_hot_cls = np.zeros((len(cls), 16)) # 16 object classes
for b in range(len(cls)):
batch_one_hot_cls[b, int(cls[b])] = 1
batch_one_hot_cls = torch.from_numpy(batch_one_hot_cls)
batch_one_hot_cls = Variable(batch_one_hot_cls.float().cuda())
pred = model(points, batch_one_hot_cls)
pred = pred.view(-1, args.num_classes)
target = target.view(-1, 1)[:, 0]
loss = criterion(pred, target)
loss.backward()
optimizer.step()
if i % args.print_freq_iter == 0:
print(
'[epoch %3d: %3d/%3d] \t train loss: %0.6f \t lr: %0.5f' %
(epoch + 1, i, num_batch, loss.data.clone(),
lr_scheduler.get_lr()[0]))
batch_count += 1
# validation in between an epoch
if (epoch < 3
or epoch > 40) and args.evaluate and batch_count % int(
args.val_freq_epoch * num_batch) == 0:
validate(test_dataloader, model, criterion, args, batch_count)
def train(train_dataloader, test_dataloader_z, test_dataloader_so3, model,
criterion, optimizer, lr_scheduler, bnm_scheduler, args, num_batch):
aug = d_utils.ZRotate()
global g_acc
g_acc = 0.88 # only save the model whose acc > g_acc
batch_count = 0
model.train()
for epoch in range(args.epochs):
for i, data in enumerate(train_dataloader, 0):
if lr_scheduler is not None:
lr_scheduler.step(epoch)
if bnm_scheduler is not None:
bnm_scheduler.step(epoch - 1)
points, normals, target = data
points, normals, target = points.cuda(), normals.cuda(
), target.cuda()
if args.model == "pointnet2":
fps_idx = pointnet2_utils.furthest_point_sample(
points, 1024) # (B, npoint)
points = pointnet2_utils.gather_operation(
points.transpose(1, 2).contiguous(),
fps_idx).transpose(1, 2).contiguous() # (B, N, 3)
normals = pointnet2_utils.gather_operation(
normals.transpose(1, 2).contiguous(),
fps_idx).transpose(1, 2).contiguous()
else:
fps_idx = pointnet2_utils.furthest_point_sample(
points, 1200) # (B, npoint)
fps_idx = fps_idx[:,
np.random.choice(1200, args.num_points, False
)]
points = pointnet2_utils.gather_operation(
points.transpose(1, 2).contiguous(),
fps_idx).transpose(1, 2).contiguous() # (B, N, 3)
normals = pointnet2_utils.gather_operation(
normals.transpose(1, 2).contiguous(),
fps_idx).transpose(1, 2).contiguous()
# # RS-CNN performs a translation to the input first
points.data = d_utils.PointcloudScaleAndTranslate()(
points.data)
points.data, normals.data = aug(points.data, normals.data)
optimizer.zero_grad()
pred = model(points, normals)
target = target.view(-1)
loss = criterion(pred, target)
loss.backward()
optimizer.step()
if i % args.print_freq_iter == 0:
print(
'[epoch %3d: %3d/%3d] \t train loss: %0.6f \t lr: %0.5f' %
(epoch + 1, i, num_batch, loss.data.clone(),
lr_scheduler.get_lr()[0]))
batch_count += 1
# validation in between an epoch
if args.evaluate and batch_count % int(
args.val_freq_epoch * num_batch) == 0:
# validate(test_dataloader_z, model, criterion, args, batch_count, 'z')
validate(test_dataloader_so3, model, criterion, args,
batch_count, 'so3')
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(),
d_utils.PointcloudScaleAndTranslate(),
d_utils.PointcloudRandomInputDropout()
])
test_transforms = transforms.Compose([
d_utils.PointcloudToTensor(),
#d_utils.PointcloudScaleAndTranslate()
])
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 train(ss_dataloader, train_dataloader, test_dataloader, encoder, decoer,
optimizer, lr_scheduler, bnm_scheduler, args, num_batch,
begin_epoch):
PointcloudScaleAndTranslate = d_utils.PointcloudScaleAndTranslate(
) # initialize augmentation
PointcloudRotate = d_utils.PointcloudRotate()
metric_criterion = MetricLoss()
chamfer_criterion = ChamferLoss()
global svm_best_acc40
batch_count = 0
encoder.train()
decoer.train()
for epoch in range(begin_epoch, args.epochs):
np.random.seed()
for i, data in enumerate(ss_dataloader, 0):
if lr_scheduler is not None:
lr_scheduler.step(epoch)
if bnm_scheduler is not None:
bnm_scheduler.step(epoch - 1)
points = data
points = Variable(points.cuda())
# data augmentation
sampled_points = 1200
has_normal = (points.size(2) > 3)
if has_normal:
normals = points[:, :, 3:6].contiguous()
points = points[:, :, 0:3].contiguous()
fps_idx = pointnet2_utils.furthest_point_sample(
points, sampled_points) # (B, npoint)
fps_idx = fps_idx[:,
np.random.choice(sampled_points, args.
num_points, False)]
points_gt = pointnet2_utils.gather_operation(
points.transpose(1, 2).contiguous(),
fps_idx).transpose(1, 2).contiguous() # (B, N, 3)
if has_normal:
normals = pointnet2_utils.gather_operation(
normals.transpose(1, 2).contiguous(), fps_idx)
points = PointcloudScaleAndTranslate(points_gt.data)
# optimize
optimizer.zero_grad()
features1, fuse_global, normals_pred = encoder(points)
global_feature1 = features1[2].squeeze(2)
refs1 = features1[0:2]
recon1 = decoer(fuse_global).transpose(1, 2) # bs, np, 3
loss_metric = metric_criterion(global_feature1, refs1)
loss_recon = chamfer_criterion(recon1, points_gt)
if has_normal:
loss_normals = NormalLoss(normals_pred, normals)
else:
loss_normals = normals_pred.new(1).fill_(0)
loss = loss_recon + loss_metric + loss_normals
loss.backward()
optimizer.step()
if i % args.print_freq_iter == 0:
print(
'[epoch %3d: %3d/%3d] \t metric/chamfer/normal loss: %0.6f/%0.6f/%0.6f \t lr: %0.5f'
% (epoch + 1, i, num_batch, loss_metric.item(),
loss_recon.item(), loss_normals.item(),
lr_scheduler.get_lr()[0]))
batch_count += 1
# validation
if args.evaluate and batch_count % int(
args.val_freq_epoch * num_batch) == 0:
svm_acc40 = validate(train_dataloader, test_dataloader,
encoder, args)
save_dict = {
'epoch': epoch +
1, # after training one epoch, the start_epoch should be epoch+1
'optimizer_state_dict': optimizer.state_dict(),
'encoder_state_dict': encoder.state_dict(),
'decoder_state_dict': decoer.state_dict(),
'svm_best_acc40': svm_best_acc40,
}
checkpoint_name = './ckpts/' + args.name + '.pth'
torch.save(save_dict, checkpoint_name)
if svm_acc40 == svm_best_acc40:
checkpoint_name = './ckpts/' + args.name + '_best.pth'
torch.save(save_dict, checkpoint_name)
def validate(test_dataloader, model, criterion, args, iter):
global Class_mIoU, Inst_mIoU, test_dataset
model.eval()
PointcloudScaleAndTranslate = d_utils.PointcloudScaleAndTranslate(
) # initialize augmentation
seg_classes = test_dataset.seg_classes
shape_ious = {cat: [] for cat in seg_classes.keys()}
seg_label_to_cat = {} # {0:Airplane, 1:Airplane, ...49:Table}
for cat in seg_classes.keys():
for label in seg_classes[cat]:
seg_label_to_cat[label] = cat
losses = 0.0
lens = len(test_dataloader)
with torch.no_grad():
for _, data in enumerate(test_dataloader):
points, target, cls = data
target = target.cuda()
points = points.cuda()
one_hot_target = to_categorical(target, 50)
# augmentation
#points = PointcloudScaleAndTranslate(points)
batch_one_hot_cls = np.zeros((len(cls), 16)) # 16 object classes
for b in range(len(cls)):
batch_one_hot_cls[b, int(cls[b])] = 1
batch_one_hot_cls = torch.from_numpy(
batch_one_hot_cls).float().cuda()
# batch_one_hot_cls = Variable(batch_one_hot_cls.float().cuda())
pred, context = model(points, batch_one_hot_cls)
pred_t = pred.view(-1, args.num_classes)
target_t = target.view(-1, 1)[:, 0]
loss = criterion(pred_t, target_t, None, context, one_hot_target)
losses += loss.item()
"""
points, target, cls = data
#points, target = Variable(points, volatile=True), Variable(target, volatile=True)
points, target = points.cuda(), target.cuda()
one_hot_target=to_categorical(target,50)
batch_one_hot_cls = np.zeros((len(cls), 16)) # 16 object classes
for b in range(len(cls)):
batch_one_hot_cls[b, int(cls[b])] = 1
batch_one_hot_cls = torch.from_numpy(batch_one_hot_cls).float().cuda()
# batch_one_hot_cls = Variable(batch_one_hot_cls.float().cuda())
pred,context= model(points, batch_one_hot_cls)
loss = criterion(pred.view(-1, args.num_classes), target.view(-1,1)[:,0],None,context,one_hot_target)
losses+=loss.item()
pred = pred.cpu()
target = target.cpu()
"""
pred_val = torch.zeros(len(cls),
args.num_points).type(torch.LongTensor)
# pred to the groundtruth classes (selected by seg_classes[cat])
for b in range(len(cls)):
cat = seg_label_to_cat[int(target[b, 0].cpu().numpy())]
logits = pred[b, :, :] # (num_points, num_classes)
pred_val[b, :] = logits[:, seg_classes[cat]].max(
1)[1] + seg_classes[cat][0]
for b in range(len(cls)):
segp = pred_val[b, :].cpu().numpy()
segl = target[b, :].cpu().numpy()
cat = seg_label_to_cat[int(segl[0])]
part_ious = [0.0 for _ in range(len(seg_classes[cat]))]
for l in seg_classes[cat]:
if np.sum((segl == l) | (segp == l)) == 0:
# part is not present in this shape
part_ious[l - seg_classes[cat][0]] = 1.0
else:
part_ious[l - seg_classes[cat][0]] = np.sum(
(segl == l) & (segp == l)) / float(
np.sum((segl == l) | (segp == l)))
shape_ious[cat].append(np.mean(part_ious))
instance_ious = []
for cat in shape_ious.keys():
for iou in shape_ious[cat]:
instance_ious.append(iou)
shape_ious[cat] = np.mean(shape_ious[cat])
mean_class_ious = np.mean(list(shape_ious.values()))
for cat in sorted(shape_ious.keys()):
print('****** %s: %0.6f' % (cat, shape_ious[cat]))
print('************ Test Loss: %0.6f' % (losses / lens))
print('************ Class_mIoU: %0.6f' % (mean_class_ious))
print('************ Instance_mIoU: %0.6f' % (np.mean(instance_ious)))
if mean_class_ious > Class_mIoU or np.mean(instance_ious) > Inst_mIoU:
if mean_class_ious > Class_mIoU:
Class_mIoU = mean_class_ious
if np.mean(instance_ious) > Inst_mIoU:
Inst_mIoU = np.mean(instance_ious)
torch.save(
model.state_dict(),
'%s/seg_msn_iter_%d_ins_%0.6f_cls_%0.6f.pth' %
(args.save_path, iter, np.mean(instance_ious),
mean_class_ious))
