def __init__(self):
self.model = PointNet().to(device)
#self.model = PFFNet().to(device)
self.lr = 1e-4
self.optimizer = torch.optim.Adam(self.model.parameters(), lr=self.lr)
self.criterion = torch.nn.CrossEntropyLoss()
self.epoches = 20
class PointNetTrainer():
def __init__(self):
self.model = PointNet().to(device)
#self.model = PFFNet().to(device)
self.lr = 1e-4
self.optimizer = torch.optim.Adam(self.model.parameters(), lr=self.lr)
self.criterion = torch.nn.CrossEntropyLoss()
self.epoches = 20
def train(self, loader):
self.model.train()
total_loss = 0
tot_num = 0
for i, data in enumerate(tqdm.tqdm(loader)):
tot_num += len(data.y)
data = data.to(device)
self.optimizer.zero_grad()
logits = self.model(data.pos, data.batch)
loss = self.criterion(logits, data.y)
loss.backward()
self.optimizer.step()
total_loss += loss.item()
return total_loss / tot_num
@torch.no_grad()
def test(self, loader):
self.model.eval()
total_correct = 0
tot_num = 0
for i, data in enumerate(loader):
if i > 50:
break
tot_num += len(data.y)
data = data.to(device)
logits = self.model(data.pos, data.batch)
pred = logits.argmax(dim=-1)
total_correct += (pred == data.y).sum()
#print(total_correct,tot_num)
return total_correct / tot_num
def work(self, train_loader, test_loader):
plt.figure()
losses = []
accs = []
for epoch in range(self.epoches):
loss = self.train(train_loader)
acc = self.test(test_loader)
print("epoch", epoch, "loss", loss, "acc", acc)
losses.append(loss)
accs.append(acc)
plt.plot(losses)
plt.plot(accs)
plt.legend(['loss', 'acc'])
plt.savefig('dump/curve.png')
def test(args, io):
test_loader = DataLoader(ModelNet40(partition='test',
num_points=args.num_points),
batch_size=args.test_batch_size,
shuffle=True,
drop_last=False)
device = torch.device("cuda" if args.cuda else "cpu")
#Try to load models
if args.model == 'pointnet':
model = PointNet(args).to(device)
else:
raise Exception("Not implemented")
print(str(model))
model = nn.DataParallel(model)
checkpoint = torch.load(args.resume)
model.load_state_dict(checkpoint['state_dict'])
model = model.eval()
test_acc = 0.0
count = 0.0
test_true = []
test_pred = []
SHAPE_NAMES = [line.rstrip() for line in \
open('data/modelnet40_ply_hdf5_2048/shape_names.txt')]
NUM_CLASSES = 40
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
for data, label in test_loader:
data, label = data.to(device), label.to(device).squeeze()
data = data.permute(0, 2, 1)
batch_size = data.size()[0]
logits = model(data)
preds = logits.max(dim=1)[1]
test_true.append(label.cpu().numpy())
test_pred.append(preds.detach().cpu().numpy())
test_true = np.concatenate(test_true)
test_pred = np.concatenate(test_pred)
test_acc = metrics.accuracy_score(test_true, test_pred)
avg_per_class_acc = metrics.balanced_accuracy_score(test_true, test_pred)
outstr = 'Test :: test acc: %.6f, test avg acc: %.6f' % (test_acc,
avg_per_class_acc)
io.cprint(outstr)
for i in range(test_true.shape[0]):
l = test_true[i]
total_seen_class[l] += 1
total_correct_class[l] += (test_pred[i] == l)
class_accuracies = np.array(total_correct_class) / np.array(
total_seen_class, dtype=np.float)
for i, name in enumerate(SHAPE_NAMES):
io.cprint('%10s:\t%0.3f' % (name, class_accuracies[i]))
def run(train_loader, test_pairs, options):
# Construct model
cuda = options["device_id"] != -1
if options["use_pair_feature"]:
point_net = PointNet(options)
pair_net = PairNetWithPairFeatures(options, point_net)
model = TripletNetWithPairFeatures(pair_net)
else:
point_net = PointNet(options)
pair_net = PairNet(options, point_net)
model = TripletNet(pair_net)
if cuda:
model.cuda()
print(model)
optimizer = torch.optim.Adam(model.parameters(), lr=options["lr"], weight_decay=options["weight_decay"])
loss_fn = TripletLoss(options["margin"])
best_overall_metric = 0 # a single value
best_metrics = None # a dictionary
best_epoch = 0
save_model(model, options["save_dir"], 'best', 0) # save the initial first model
for epoch in range(options["epochs"]):
epoch_loss, non_zero_triplet_ratio = train_triplet_epoch(train_loader, model, loss_fn, optimizer, cuda,
use_pair_feature=options["use_pair_feature"])
print("Epoch: {}, train-loss: {:06.4f}, non_zero_triplet_ratio: {:06.4f}, ".format(epoch, epoch_loss,
non_zero_triplet_ratio))
if epoch % options["eval_epoch"] == 0 and epoch != 0:
if options["use_pair_feature"]:
prediction_score = pair_prediction_with_pair_feature(model.pair_net, test_pairs, pair_features, cuda, options, batch_size=10000)
else:
prediction_score = pair_prediction(model.pair_net, test_pairs, cuda, options, batch_size=10000)
test_triplets = []
for term_pair, score in zip(test_pairs, prediction_score):
test_triplets.append((term_pair[0], term_pair[1], -1.0 * score))
metrics = evaluation_main(test_triplets)
if metrics["all"] >= best_overall_metric:
best_overall_metric =metrics["all"]
best_epoch = epoch
best_metrics = metrics
save_model(model, options["save_dir"], 'best', epoch) # save the initial first model
return best_overall_metric, best_epoch, best_metrics
def __init__(self, mode, dataset, device, split, path=None):
if mode == "PointNet":
self.model = PointNet().to(device)
if path is None:
path = "./metrics/pointnet_modelnet40/checkpoints/pointnet_max_pc_2048_emb_1024/models/model.t7"
if split == 'train':
self.real_stat_save_path = "./metrics/gt_stats/pointnet_max_pc_2048_emb_1024/%s-train.npz" % dataset
elif split == 'test':
self.real_stat_save_path = "./metrics/gt_stats/pointnet_max_pc_2048_emb_1024/%s-test.npz" % dataset
else:
raise ValueError('ERROR: unknown split %s!' % split)
print('Using PointNet, gt_stat_fn: %s\n' %
self.real_stat_save_path)
else:
raise ValueError('ERROR: unknown FID mode %s!' % mode)
self.model.load_state_dict(torch.load(path))
self.model = self.model.eval()
self.device = device
def main(opt):
train_dataset = Dataset(opt.dataroot, True)
train_dataloader = Dataloader(train_dataset, batch_size=opt.batchSize, \
shuffle=False, num_workers=2)
test_dataset = Dataset(opt.dataroot, False)
test_dataloader = Dataloader(test_dataset, batch_size=opt.batchSize, \
shuffle=False, num_workers=2)
net = PointNet(d=opt.d, feature_transform=opt.feature_transform)
net.double()
print(net)
criterion = nn.CosineSimilarity(dim=2)
optimizer = optim.Adam(net.parameters(), lr=opt.lr)
with open('train.csv', 'a') as f:
writer = csv.writer(f, lineterminator='\n')
writer.writerow(
["train_loss", "train_gain", "baseline_loss", "baseline_gain"])
with open('test.csv', 'a') as f:
writer = csv.writer(f, lineterminator='\n')
writer.writerow(
["test_loss", "test_gain", "baseline_loss", "baseline_gain"])
start = time.time()
for epoch in range(0, opt.niter):
train(epoch, train_dataloader, net, criterion, optimizer, opt)
test(test_dataloader, net, criterion, optimizer, opt)
elapsed_time = time.time() - start
with open('time.csv', 'a') as f:
writer = csv.writer(f, lineterminator='\n')
writer.writerow(["学習時間", elapsed_time])
def test(args, io):
test_loader = DataLoader(ModelNet40(partition='test',
num_points=args.num_points),
batch_size=args.test_batch_size,
shuffle=True,
drop_last=False)
device = torch.device("cuda" if args.cuda else "cpu")
#Try to load models
if args.model == 'pointnet':
model = PointNet(args).to(device)
elif args.model == 'dgcnn':
model = DGCNN_cls(args).to(device)
else:
raise Exception("Not implemented")
model = nn.DataParallel(model)
model.load_state_dict(torch.load(args.model_path))
model = model.eval()
test_acc = 0.0
count = 0.0
test_true = []
test_pred = []
for data, label in test_loader:
data, label = data.to(device), label.to(device).squeeze()
data = data.permute(0, 2, 1)
batch_size = data.size()[0]
logits = model(data)
preds = logits.max(dim=1)[1]
test_true.append(label.cpu().numpy())
test_pred.append(preds.detach().cpu().numpy())
# visualize - added by jaeha
if args.visualize:
xyz = data[0].cpu()
ax = plt.axes(projection='3d')
ax.scatter(xyz[0, :], xyz[1, :], xyz[2, :], s=1, color='blue')
plt.title('True: ' + class_lists[label[0]] + ' , Pred: ' +
class_lists[preds[0]])
plt.show()
test_true = np.concatenate(test_true)
test_pred = np.concatenate(test_pred)
test_acc = metrics.accuracy_score(test_true, test_pred)
avg_per_class_acc = metrics.balanced_accuracy_score(test_true, test_pred)
outstr = 'Test :: test acc: %.6f, test avg acc: %.6f' % (test_acc,
avg_per_class_acc)
io.cprint(outstr)
def test(args, io):
test_loader = DataLoader(ModelNet40(partition='test',
num_points=args.num_points),
batch_size=args.test_batch_size,
shuffle=True,
drop_last=False)
device = torch.device("cuda" if args.cuda else "cpu")
#Try to load models
if args.model == 'pointnet':
model = PointNet(args).to(device)
elif args.model == 'dgcnn':
model = DGCNN_cls(args).to(device)
else:
raise Exception("Not implemented")
model = nn.DataParallel(model)
model.load_state_dict(torch.load(args.model_path))
model = model.eval()
test_acc = 0.0
count = 0.0
test_true = []
test_pred = []
for data, label in test_loader:
data, label = data.to(device), label.to(device).squeeze()
data = data.permute(0, 2, 1)
batch_size = data.size()[0]
logits = model(data)
preds = logits.max(dim=1)[1]
test_true.append(label.cpu().numpy())
test_pred.append(preds.detach().cpu().numpy())
test_true = np.concatenate(test_true)
test_pred = np.concatenate(test_pred)
test_acc = metrics.accuracy_score(test_true, test_pred)
avg_per_class_acc = metrics.balanced_accuracy_score(test_true, test_pred)
outstr = 'Test :: test acc: %.6f, test avg acc: %.6f' % (test_acc,
avg_per_class_acc)
io.cprint(outstr)
def mytest(args, io):
# test_loader = DataLoader(ModelNet40(partition='test', num_points=args.num_points),
# batch_size=args.test_batch_size, shuffle=True, drop_last=False)
device = torch.device("cuda" if args.cuda else "cpu")
#Try to load models
if args.model == 'pointnet':
model = PointNet(args).to(device)
elif args.model == 'dgcnn':
model = DGCNN_cls(args).to(device)
else:
raise Exception("Not implemented")
model = nn.DataParallel(model)
model.load_state_dict(torch.load(args.model_path))
model = model.eval()
test_acc = 0.0
count = 0.0
test_true = []
test_pred = []
pc_test = pc_from_h5('/home/mask/MSCNN/data-generation/resources/dataset/object_4e/real_test/1.h5')
# for i in range(10):
pc_test = torch.from_numpy(pc_test)
pc_test = pc_test.type(torch.FloatTensor)
pc_test = pc_test.cuda()
pc_test = pc_test.permute(0, 2, 1)
pc_test = pc_test.to(device)
logits = model(pc_test)
preds = logits.max(dim=1)[1]
test_pred.append(preds.detach().cpu().numpy())
print(test_pred)
if options["use_pair_feature"]:
print("!!! Using pair features")
f_pair_feature_key = options["pair_feature_prefix"] + "edge.keys.tsv"
f_pair_feature_value = options["pair_feature_prefix"] + "edge.values.npy"
pair_features = load_pair_features(f_pair_feature_key, f_pair_feature_value)
# Construct testing set
f_pred = options["pred_pairs_file_in"]
print("!!! Loading term pairs for prediction from: {}".format(f_pred))
pred_pairs = load_element_pairs(f_pred, with_label=False)
print("Number of term pairs for prediction: {}".format(len(pred_pairs)))
# Construct model skeleton
cuda = options["device_id"] != -1
if options["use_pair_feature"]:
point_net = PointNet(options)
pair_net = PairNetWithPairFeatures(options, point_net)
model = TripletNetWithPairFeatures(pair_net)
else:
point_net = PointNet(options)
pair_net = PairNet(options, point_net)
model = TripletNet(pair_net)
if cuda:
model.cuda()
# Load pre-trained model
model_path = options["snapshot"]
model.load_state_dict(torch.load(model_path))
print(model)
# Conduct pair prediction and dump results to file
def train(args, io):
train_loader = DataLoader(ModelNet40(partition='train'),
num_workers=8,
batch_size=args.batch_size,
shuffle=True,
drop_last=True)
test_loader = DataLoader(ModelNet40(partition='test'),
num_workers=8,
batch_size=args.batch_size,
shuffle=True,
drop_last=False)
device = torch.device("cuda:0")
model = PointNet().to(device)
print(str(model))
print("Use Adam")
opt = optim.Adam(model.parameters(), lr=args.lr, weight_decay=1e-6)
scheduler = CosineAnnealingLR(opt, args.epochs, eta_min=args.lr)
criterion = cal_loss
best_test_acc = 0
for epoch in range(args.epochs):
scheduler.step()
####################
# Train
####################
train_loss = 0.0
count = 0.0
model.train()
train_pred = []
train_true = []
for data, label in train_loader:
data, label = data.to(device), label.to(device).squeeze()
batch_size = data.size()[0]
opt.zero_grad()
logits = model(data.float())
loss = criterion(logits, label)
loss.backward()
opt.step()
preds = logits.max(dim=1)[1]
count += batch_size
train_loss += loss.item() * batch_size
train_true.append(label.cpu().numpy())
train_pred.append(preds.detach().cpu().numpy())
train_true = np.concatenate(train_true)
train_pred = np.concatenate(train_pred)
outstr = 'Train %d, loss: %.6f, train acc: %.6f, train avg acc: %.6f' % (
epoch, train_loss * 1.0 / count,
metrics.accuracy_score(train_true, train_pred),
metrics.balanced_accuracy_score(train_true, train_pred))
io.cprint(outstr)
####################
# Test
####################
test_loss = 0.0
count = 0.0
model.eval()
test_pred = []
test_true = []
for data, label in test_loader:
data, label = data.to(device), label.to(device).squeeze()
batch_size = data.size()[0]
logits = model(data.float())
loss = criterion(logits, label)
preds = logits.max(dim=1)[1]
count += batch_size
test_loss += loss.item() * batch_size
test_true.append(label.cpu().numpy())
test_pred.append(preds.detach().cpu().numpy())
test_true = np.concatenate(test_true)
test_pred = np.concatenate(test_pred)
test_acc = metrics.accuracy_score(test_true, test_pred)
avg_per_class_acc = metrics.balanced_accuracy_score(
test_true, test_pred)
outstr = 'Test %d, loss: %.6f, test acc: %.6f, test avg acc: %.6f' % (
epoch, test_loss * 1.0 / count, test_acc, avg_per_class_acc)
io.cprint(outstr)
if test_acc >= best_test_acc:
best_test_acc = test_acc
torch.save(model.state_dict(),
'checkpoints/%s/models/model.t7' % args.exp_name)
print('Saving ckpt with acc: %f' % best_test_acc)
def softXEnt(prediction, real_class):
# TODO: return loss here
def get_eval_acc_results(model, data_loader, device):
"""
ACC
"""
seq_id = 0
model.eval()
distribution = np.zeros([5])
confusion_matrix = np.zeros([5, 5])
pred_ys = []
gt_ys = []
with torch.no_grad():
accs = []
for x, y in data_loader:
x = x.to(device)
y = y.to(device)
# TODO: put x into network and get out
out =
# TODO: get pred_y from out
pred_y =
gt = np.argmax(y.cpu().numpy(), axis=1)
# TODO: calculate acc from pred_y and gt
acc =
gt_ys = np.append(gt_ys, gt)
pred_ys = np.append(pred_ys, pred_y)
idx = gt
accs.append(acc)
return np.mean(accs)
if __name__ == "__main__":
writer = SummaryWriter('./output/runs/tersorboard')
torch.manual_seed(SEED)
device = torch.device(f'cuda:{gpus[0]}' if torch.cuda.is_available() else 'cpu')
print("Loading train dataset...")
train_data = PointNetDataset("../../../dataset/modelnet40_normal_resampled", train=0)
train_loader = DataLoader(train_data, batch_size=batch_size, shuffle=True)
print("Loading valid dataset...")
val_data = PointNetDataset("../../../dataset/modelnet40_normal_resampled/", train=1)
val_loader = DataLoader(val_data, batch_size=batch_size, shuffle=True)
print("Set model and optimizer...")
model = PointNet().to(device=device)
optimizer = optim.Adam(model.parameters(), lr=lr)
scheduler = optim.lr_scheduler.StepLR(
optimizer, step_size=decay_lr_every, gamma=decay_lr_factor)
best_acc = 0.0
model.train()
print("Start trainning...")
for epoch in range(epochs):
acc_loss = 0.0
num_samples = 0
start_tic = time.time()
for x, y in train_loader:
x = x.to(device)
y = y.to(device)
# TODO: set grad to zero
# TODO: put x into network and get out
out =
loss = softXEnt(out, y)
# TODO: loss backward
# TODO: update network's param
acc_loss += batch_size * loss.item()
num_samples += y.shape[0]
global_step += 1
acc = np.sum(np.argmax(out.cpu().detach().numpy(), axis=1) == np.argmax(y.cpu().detach().numpy(), axis=1)) / len(y)
# print('acc: ', acc)
if (global_step + 1) % show_every == 0:
# ...log the running loss
writer.add_scalar('training loss', acc_loss / num_samples, global_step)
writer.add_scalar('training acc', acc, global_step)
# print( f"loss at epoch {epoch} step {global_step}:{loss.item():3f}, lr:{optimizer.state_dict()['param_groups'][0]['lr']: .6f}, time:{time.time() - start_tic: 4f}sec")
scheduler.step()
print(f"loss at epoch {epoch}:{acc_loss / num_samples:.3f}, lr:{optimizer.state_dict()['param_groups'][0]['lr']: .6f}, time:{time.time() - start_tic: 4f}sec")
if (epoch + 1) % val_every == 0:
acc = get_eval_acc_results(model, val_loader, device)
print("eval at epoch[" + str(epoch) + f"] acc[{acc:3f}]")
writer.add_scalar('validing acc', acc, global_step)
if acc > best_acc:
best_acc = acc
save_ckp(save_dir, model, optimizer, epoch, best_acc, date)
example = torch.randn(1, 3, 10000).to(device)
traced_script_module = torch.jit.trace(model, example)
traced_script_module.save("../output/traced_model.pt")
torch.manual_seed(seed)
torch.cuda.manual_seed_all(seed)
np.random.seed(seed)
num_points = 1024
# Load datasets.
train_dataset, train_dataloader, test_dataset, test_dataloader, \
= create_datasets_and_dataloaders(num_points)
# Create the network.
n_dims = 3
net = {}
if args.frontend == 'DGCNN':
net['frontend'] = DGCNN(n_dims, args.embed_dims)
else:
net['frontend'] = PointNet(n_dims, args.embed_dims)
if args.attention:
net['middle'] = Transformer(args.embed_dims)
if args.backend == 'SVD':
net['backend'] = SVD(args.embed_dims, device)
else:
net['backend'] = MLP(args.embed_dims, device)
if torch.cuda.is_available():
for key in net.keys():
net[key].cuda()
# Load a model if given.
if args.model != '':
def train(args, io):
train_loader = DataLoader(ModelNet40(partition='train', num_points=args.num_points), num_workers=8,
batch_size=args.batch_size, shuffle=True, drop_last=True)
test_loader = DataLoader(ModelNet40(partition='test', num_points=args.num_points), num_workers=8,
batch_size=args.test_batch_size, shuffle=True, drop_last=False)
device = torch.device("cuda" if args.cuda else "cpu")
#Try to load models
if args.model == 'pointnet':
model = PointNet(args).to(device)
elif args.model == 'dgcnn':
model = DGCNN(args).to(device)
elif args.model == 'semigcn':
model = SemiGCN(args).to(device)
else:
raise Exception("Not implemented")
print(str(model))
model = nn.DataParallel(model)
print("Let's use", torch.cuda.device_count(), "GPUs!")
if args.use_sgd:
print("Use SGD")
opt = optim.SGD(model.parameters(), lr=args.lr*100, momentum=args.momentum, weight_decay=1e-4)
else:
print("Use Adam")
opt = optim.Adam(model.parameters(), lr=args.lr, weight_decay=1e-4)
# optionally resume from a checkpoint
if args.resume:
if os.path.isfile(args.resume):
print("=> loading checkpoint '{}'".format(args.resume))
checkpoint = torch.load(args.resume)
args.start_epoch = checkpoint['epoch']
model.load_state_dict(checkpoint['state_dict'])
opt.load_state_dict(checkpoint['opt'])
print("=> loaded checkpoint '{}' (epoch {})"
.format(args.resume, checkpoint['epoch']))
else:
print("=> no checkpoint found at '{}'".format(args.resume))
#scheduler = CosineAnnealingLR(opt, args.epochs, eta_min=args.lr, last_epoch=args.start_epoch-1)
scheduler = torch.optim.lr_scheduler.StepLR(opt, step_size=20, gamma=0.8)#0.7
#scheduler = torch.optim.lr_scheduler.ExponentialLR(opt, gamma=0.9825, last_epoch=args.start_epoch-1)
criterion = cal_loss
best_test_acc = 0
for epoch in range(args.start_epoch, args.epochs):
#scheduler.step()
####################
# Train
####################
train_loss = 0.0
count = 0.0
model.train()
train_pred = []
train_true = []
for data, label in train_loader:
data, label = data.to(device), label.to(device).squeeze()
data = data.permute(0, 2, 1)
batch_size = data.size()[0]
opt.zero_grad()
logits = model(data)
loss = criterion(logits, label)
loss.backward()
opt.step()
preds = logits.max(dim=1)[1]
count += batch_size
train_loss += loss.item() * batch_size
train_true.append(label.cpu().numpy())
train_pred.append(preds.detach().cpu().numpy())
scheduler.step()
train_true = np.concatenate(train_true)
train_pred = np.concatenate(train_pred)
outstr = 'Train %d, loss: %.6f, train acc: %.6f, train avg acc: %.6f' % (epoch,
train_loss*1.0/count,
metrics.accuracy_score(
train_true, train_pred),
metrics.balanced_accuracy_score(
train_true, train_pred))
io.cprint(outstr)
if epoch%10 == 0:
# save running checkpoint per 10 epoch
torch.save({'epoch': epoch + 1,
'arch': args.model,
'state_dict': model.state_dict(),
'opt' : opt.state_dict()},
'checkpoints/%s/models/checkpoint_latest.pth.tar' % args.exp_name)
####################
# Test
####################
test_loss = 0.0
count = 0.0
model.eval()
test_pred = []
test_true = []
for data, label in test_loader:
data, label = data.to(device), label.to(device).squeeze()
data = data.permute(0, 2, 1)
batch_size = data.size()[0]
logits = model(data)
loss = criterion(logits, label)
preds = logits.max(dim=1)[1]
count += batch_size
test_loss += loss.item() * batch_size
test_true.append(label.cpu().numpy())
test_pred.append(preds.detach().cpu().numpy())
test_true = np.concatenate(test_true)
test_pred = np.concatenate(test_pred)
test_acc = metrics.accuracy_score(test_true, test_pred)
avg_per_class_acc = metrics.balanced_accuracy_score(test_true, test_pred)
outstr = 'Test %d, loss: %.6f, test acc: %.6f, test avg acc: %.6f' % (epoch,
test_loss*1.0/count,
test_acc,
avg_per_class_acc)
io.cprint(outstr)
if test_acc >= best_test_acc:
best_test_acc = test_acc
torch.save({'epoch': epoch + 1,
'arch': args.model,
'state_dict': model.state_dict(),
'opt' : opt.state_dict()},
'checkpoints/%s/models/checkpoint_best.pth.tar' % args.exp_name)
#数据可视化
path = "../../dataset/modelnet40_normal_resampled"
writer = SummaryWriter('./output/runs/tersorboard')
torch.manual_seed(SEED)
device = torch.device(f'cuda:{gpus[0]}' if torch.cuda.is_available() else 'cpu')
print("Loading train dataset...")
train_data = PointNetDataset(path, train=0)
# shuffle = True, 打乱后在输出
train_loader = DataLoader(train_data, batch_size=batch_size, shuffle=True)
print("Loading valid dataset...")
#val_data = PointNetDataset("../../dataset/modelnet40_normal_resampled/", train=1)
val_data = PointNetDataset(path, train=1)
val_loader = DataLoader(val_data, batch_size=batch_size, shuffle=True)
print("Set model and optimizer...")
model = PointNet().to(device=device)
# 初始化优化器
optimizer = optim.Adam(model.parameters(), lr=lr)
scheduler = optim.lr_scheduler.StepLR(
optimizer, step_size=decay_lr_every, gamma=decay_lr_factor)
best_acc = 0.0
model.train()
# %%
print("Start training...")
for epoch in range(epochs):
acc_loss = 0.0
num_samples = 0
start_tic = time.time()
for x, y in train_loader:
x = x.to(device)
def train(args, io):
train_loader = DataLoader(ModelNet40(partition='train',
num_points=args.num_points),
num_workers=8,
batch_size=args.batch_size,
shuffle=True,
drop_last=True)
test_loader = DataLoader(ModelNet40(partition='test',
num_points=args.num_points),
num_workers=8,
batch_size=args.test_batch_size,
shuffle=True,
drop_last=False)
device = torch.device("cuda" if args.cuda else "cpu")
#Try to load models
if args.model == 'pointnet':
model = PointNet(args).to(device)
elif args.model == 'dgcnn':
model = DGCNN(args).to(device)
elif args.model == 'ssg':
model = PointNet2SSG(output_classes=40, dropout_prob=args.dropout)
model.to(device)
elif args.model == 'msg':
model = PointNet2MSG(output_classes=40, dropout_prob=args.dropout)
model.to(device)
elif args.model == 'ognet':
# [64,128,256,512]
model = Model_dense(20,
args.feature_dims, [512],
output_classes=40,
init_points=768,
input_dims=3,
dropout_prob=args.dropout,
id_skip=args.id_skip,
drop_connect_rate=args.drop_connect_rate,
cluster='xyzrgb',
pre_act=args.pre_act,
norm=args.norm_layer)
if args.efficient:
model = ModelE_dense(20,
args.feature_dims, [512],
output_classes=40,
init_points=768,
input_dims=3,
dropout_prob=args.dropout,
id_skip=args.id_skip,
drop_connect_rate=args.drop_connect_rate,
cluster='xyzrgb',
pre_act=args.pre_act,
norm=args.norm_layer,
gem=args.gem,
ASPP=args.ASPP)
model.to(device)
elif args.model == 'ognet-small':
# [48,96,192,384]
model = Model_dense(20,
args.feature_dims, [512],
output_classes=40,
init_points=768,
input_dims=3,
dropout_prob=args.dropout,
id_skip=args.id_skip,
drop_connect_rate=args.drop_connect_rate,
cluster='xyzrgb',
pre_act=args.pre_act,
norm=args.norm_layer)
model.to(device)
else:
raise Exception("Not implemented")
print(str(model))
model = nn.DataParallel(model)
print("Let's use", torch.cuda.device_count(), "GPUs!")
if args.use_sgd:
print("Use SGD")
opt = optim.SGD(model.parameters(),
lr=args.lr * 100,
momentum=args.momentum,
weight_decay=1e-4)
scheduler = CosineAnnealingLR(opt, args.epochs, eta_min=args.lr)
else:
print("Use Adam")
opt = optim.Adam(model.parameters(), lr=args.lr, weight_decay=1e-4)
scheduler = CosineAnnealingLR(opt, args.epochs, eta_min=0.01 * args.lr)
criterion = cal_loss
best_test_acc = 0
best_avg_per_class_acc = 0
warm_up = 0.1 # We start from the 0.1*lrRate
warm_iteration = round(
len(ModelNet40(partition='train', num_points=args.num_points)) /
args.batch_size) * args.warm_epoch # first 5 epoch
for epoch in range(args.epochs):
scheduler.step()
####################
# Train
####################
train_loss = 0.0
count = 0.0
model.train()
train_pred = []
train_true = []
for data, label in train_loader:
data, label = data.to(device), label.to(device).squeeze()
batch_size = data.size()[0]
opt.zero_grad()
if args.model == 'ognet' or args.model == 'ognet-small' or args.model == 'ssg' or args.model == 'msg':
logits = model(data, data)
else:
data = data.permute(0, 2, 1)
logits = model(data)
loss = criterion(logits, label)
if epoch < args.warm_epoch:
warm_up = min(1.0, warm_up + 0.9 / warm_iteration)
loss *= warm_up
loss.backward()
opt.step()
preds = logits.max(dim=1)[1]
count += batch_size
train_loss += loss.item() * batch_size
train_true.append(label.cpu().numpy())
train_pred.append(preds.detach().cpu().numpy())
train_true = np.concatenate(train_true)
train_pred = np.concatenate(train_pred)
outstr = 'Train %d, loss: %.6f, train acc: %.6f, train avg acc: %.6f' % (
epoch, train_loss * 1.0 / count,
metrics.accuracy_score(train_true, train_pred),
metrics.balanced_accuracy_score(train_true, train_pred))
io.cprint(outstr)
####################
# Test
####################
test_loss = 0.0
count = 0.0
model.eval()
test_pred = []
test_true = []
for data, label in test_loader:
data, label = data.to(device), label.to(device).squeeze()
batch_size = data.size()[0]
if args.model == 'ognet' or args.model == 'ognet-small' or args.model == 'ssg' or args.model == 'msg':
logits = model(data, data)
else:
data = data.permute(0, 2, 1)
logits = model(data)
loss = criterion(logits, label)
preds = logits.max(dim=1)[1]
count += batch_size
test_loss += loss.item() * batch_size
test_true.append(label.cpu().numpy())
test_pred.append(preds.detach().cpu().numpy())
test_true = np.concatenate(test_true)
test_pred = np.concatenate(test_pred)
test_acc = metrics.accuracy_score(test_true, test_pred)
avg_per_class_acc = metrics.balanced_accuracy_score(
test_true, test_pred)
outstr = 'Test %d, loss: %.6f, test acc: %.6f, test avg acc: %.6f' % (
epoch, test_loss * 1.0 / count, test_acc, avg_per_class_acc)
io.cprint(outstr)
if test_acc + avg_per_class_acc >= best_test_acc + best_avg_per_class_acc:
best_test_acc = test_acc
best_avg_per_class_acc = avg_per_class_acc
print('This is the current best.')
torch.save(model.state_dict(),
'checkpoints/%s/models/model.t7' % args.exp_name)
from model import PointNet, DGCNN
from data import ModelNet40
from torch.utils.data import DataLoader
train_loader = DataLoader(ModelNet40(partition='train', num_points=1024),
num_workers=8,
batch_size=32,
shuffle=True,
drop_last=True)
test_loader = DataLoader(ModelNet40(partition='test', num_points=1024),
num_workers=8,
batch_size=32,
shuffle=True,
drop_last=False)
model = PointNet().cuda()
criterion = nn.CrossEntropyLoss()
opt = optim.SGD(model.parameters(), lr=0.0001, momentum=0.9)
io = IOStream('checkpoints/run.log')
for epoch in range(100):
#################
#Train
#################
train_loss = 0.0
count = 0.0
model.train()
train_pred = []
train_true = []
for data, label in tqdm(train_loader):
data = data.permute(0, 2, 1)
data, label = data.cuda(), label.squeeze().cuda()
gpus = [0]
batch_size = 1
ckp_path = '../output/latest.pth'
def load_ckp(ckp_path, model):
state = torch.load(ckp_path)
model.load_state_dict(state['state_dict'])
print("model load from %s" % ckp_path)
if __name__ == "__main__":
torch.manual_seed(SEED)
device = torch.device(f'cuda:{gpus[0]}' if torch.cuda.is_available() else 'cpu')
print("Loading test dataset...")
test_data = PointNetDataset("./dataset/modelnet40_normal_resampled", train=1)
test_loader = DataLoader(test_data, batch_size=batch_size, shuffle=True)
model = PointNet().to(device=device)
if ckp_path:
load_ckp(ckp_path, model)
model = model.to(device)
model.eval()
with torch.no_grad():
accs = []
gt_ys = []
pred_ys = []
for x, y in test_loader:
x = x.to(device)
y = y.to(device)
# TODO: put x into network and get out
def main():
args = options()
torch.backends.cudnn.deterministic = True
torch.manual_seed(args.seed)
torch.cuda.manual_seed_all(args.seed)
np.random.seed(args.seed)
boardio = SummaryWriter(log_dir='checkpoints/' + args.exp_name)
_init_(args)
textio = IOStream('checkpoints/' + args.exp_name + '/run.log')
textio.cprint(str(args))
train_loader = DataLoader(ModelNet40(num_points=args.num_points,
partition='train',
gaussian_noise=args.gaussian_noise,
unseen=args.unseen,
factor=args.factor,
method='pcrnet'),
batch_size=args.batch_size,
shuffle=True,
drop_last=True,
num_workers=6)
test_loader = DataLoader(ModelNet40(num_points=args.num_points,
partition='test',
gaussian_noise=args.gaussian_noise,
unseen=args.unseen,
factor=args.factor,
method='pcrnet'),
batch_size=args.batch_size,
shuffle=False,
drop_last=False,
num_workers=6)
if not torch.cuda.is_available():
args.device = 'cpu'
args.device = torch.device(args.device)
# Create PointNet Model.
ptnet = PointNet(emb_dims=args.emb_dims)
model = iPCRNet(feature_model=ptnet)
model = model.to(args.device)
checkpoint = None
if args.resume:
assert os.path.isfile(args.resume)
checkpoint = torch.load(args.resume)
args.start_epoch = checkpoint['epoch']
model.load_state_dict(checkpoint['model'])
if args.pretrained:
assert os.path.isfile(args.pretrained)
model.load_state_dict(torch.load(args.pretrained, map_location='cpu'))
model.to(args.device)
if args.eval:
test(args, model, test_loader, textio)
else:
train(args, model, train_loader, test_loader, boardio, textio,
checkpoint)
def train(modelin=args.model, modelout=args.out,device=args.device,opt=args.opt):
# define model, dataloader, 3dmm eigenvectors, optimization method
calib_net = PointNet(n=1)
sfm_net = PointNet(n=199)
if modelin != "":
calib_path = os.path.join('model','calib_' + modelin)
sfm_path = os.path.join('model','sfm_' + modelin)
pretrained1 = torch.load(calib_path)
pretrained2 = torch.load(sfm_path)
calib_dict = calib_net.state_dict()
sfm_dict = sfm_net.state_dict()
pretrained1 = {k: v for k,v in pretrained1.items() if k in calib_dict}
pretrained2 = {k: v for k,v in pretrained2.items() if k in sfm_dict}
calib_dict.update(pretrained1)
sfm_dict.update(pretrained2)
calib_net.load_state_dict(pretrained1)
sfm_net.load_state_dict(pretrained2)
calib_net.to(device=device)
sfm_net.to(device=device)
opt1 = torch.optim.Adam(calib_net.parameters(),lr=1e-3)
opt2 = torch.optim.Adam(sfm_net.parameters(),lr=1e-3)
# dataloader
data = dataloader.Data()
loader = data.batchloader
batch_size = data.batchsize
# mean shape and eigenvectors for 3dmm
mu_lm = torch.from_numpy(data.mu_lm).float()#.to(device=device)
mu_lm[:,2] = mu_lm[:,2] * -1
mu_lm = torch.stack(batch_size * [mu_lm.to(device=device)])
shape = mu_lm
lm_eigenvec = torch.from_numpy(data.lm_eigenvec).float().to(device=device)
lm_eigenvec = torch.stack(batch_size * [lm_eigenvec])
M = data.M
N = data.N
# main training loop
for epoch in itertools.count():
for j,batch in enumerate(loader):
# get the input and gt values
x_cam_gt = batch['x_cam_gt'].to(device=device)
shape_gt = batch['x_w_gt'].to(device=device)
fgt = batch['f_gt'].to(device=device)
x_img = batch['x_img'].to(device=device)
#beta_gt = batch['beta_gt'].to(device=device)
#x_img_norm = batch['x_img_norm']
x_img_gt = batch['x_img_gt'].to(device=device).permute(0,2,1,3)
batch_size = fgt.shape[0]
one = torch.ones(batch_size,M*N,1).to(device=device)
x_img_one = torch.cat([x_img,one],dim=2)
x_cam_pt = x_cam_gt.permute(0,1,3,2).reshape(batch_size,6800,3)
x = x_img.permute(0,2,1)
#x = x_img.permute(0,2,1).reshape(batch_size,2,M,N)
ptsI = x_img_one.reshape(batch_size,M,N,3).permute(0,1,3,2)[:,:,:2,:]
# if just optimizing
if not opt:
# calibration
f = calib_net(x) + 300
K = torch.zeros((batch_size,3,3)).float().to(device=device)
K[:,0,0] = f.squeeze()
K[:,1,1] = f.squeeze()
K[:,2,2] = 1
# sfm
betas = sfm_net(x)
betas = betas.unsqueeze(-1)
shape = mu_lm + torch.bmm(lm_eigenvec,betas).squeeze().view(batch_size,N,3)
opt1.zero_grad()
opt2.zero_grad()
f_error = torch.mean(torch.abs(f - fgt))
#error2d = torch.mean(torch.abs(pred - x_img_gt))
error3d = torch.mean(torch.abs(shape - shape_gt))
error = f_error + error3d
error.backward()
opt1.step()
opt2.step()
print(f"f_error: {f_error.item():.3f} | error3d: {error3d.item():.3f} | f/fgt: {f[0].item():.1f}/{fgt[0].item():.1f} | f/fgt: {f[1].item():.1f}/{fgt[1].item():.1f} | f/fgt: {f[2].item():.1f}/{fgt[2].item():.1f} | f/fgt: {f[3].item():.1f}/{fgt[3].item():.1f} ")
continue
# get shape error from image projection
print(f"f/fgt: {f[0].item():.3f}/{fgt[0].item():.3f} | rmse: {rmse:.3f} | f_rel: {f_error.item():.4f} | loss1: {loss1.item():.3f} | loss2: {loss2.item():.3f}")
# save model and increment weight decay
print("saving!")
torch.save(sfm_net.state_dict(), os.path.join('model','sfm_'+modelout))
torch.save(calib_net.state_dict(), os.path.join('model','calib_'+modelout))
test(modelin=args.out,outfile=args.out,optimize=False)
def startcustomtraining(args, io):
ft_loader = DataLoader(FT10(num_points=args.num_points),
num_workers=8,
batch_size=args.test_batch_size,
shuffle=True,
drop_last=True)
ft_test_loader = DataLoader(FT11(num_points=args.num_points),
num_workers=8,
batch_size=args.test_batch_size,
shuffle=True,
drop_last=False)
device = torch.device("cuda" if args.cuda else "cpu")
#Try to load models
if args.model == 'pointnet':
model = PointNet(args).to(device)
elif args.model == 'dgcnn':
model = DGCNN(args).to(device)
else:
raise Exception("Not implemented")
print(str(model))
model = nn.DataParallel(model)
print("Let's use", torch.cuda.device_count(), "GPUs!")
if args.use_sgd:
print("Use SGD")
opt = optim.SGD(model.parameters(),
lr=args.lr * 100,
momentum=args.momentum,
weight_decay=1e-4)
else:
print("Use Adam")
opt = optim.Adam(model.parameters(), lr=args.lr, weight_decay=1e-4)
scheduler = CosineAnnealingLR(opt, args.epochs, eta_min=args.lr)
criterion = cal_loss
best_ft_test_acc = 0.0
i = 0
train_accs = []
test_accs = []
epochs = []
for epoch in range(args.epochs):
i += 1
scheduler.step()
ft_loss = 0.0
count = 0
model.train()
ft_pred = []
ft_true = []
for data, label in ft_loader:
data, label = data.to(device), label.to(device).squeeze()
data = data.permute(0, 2, 1)
batch_size = data.size()[0]
opt.zero_grad()
logits = model(data)
loss = criterion(logits, label)
loss.backward()
opt.step()
preds = logits.max(dim=1)[1]
count += batch_size
ft_loss += loss.item() * batch_size
ft_true.append(label.cpu().numpy())
ft_pred.append(preds.detach().cpu().numpy())
#print(data.shape, label.shape, logits.shape, preds.shape)
#print('LABELS:', label)
#print('PREDS:', preds)
#print('LOGITS:', logits)
ft_true = np.concatenate(ft_true)
ft_pred = np.concatenate(ft_pred)
ft_acc = metrics.accuracy_score(ft_true, ft_pred)
avg_per_class_acc = metrics.balanced_accuracy_score(ft_true, ft_pred)
outstr = 'Train %d, loss: %.6f, train acc: %.6f, train avg acc: %.6f' % (
epoch, ft_loss * 1.0 / count, ft_acc, avg_per_class_acc)
io.cprint(outstr)
train_accs.append(ft_acc)
ft_test_loss = 0.0
count = 0
model.eval()
ft_test_pred = []
ft_test_true = []
for data, label in ft_test_loader:
data, label = data.to(device), label.to(device).squeeze()
data = data.permute(0, 2, 1)
batch_size = data.size()[0]
logits = model(data)
loss = criterion(logits, label)
preds = logits.max(dim=1)[1]
count += batch_size
ft_test_loss += loss.item() * batch_size
ft_test_true.append(label.cpu().numpy())
ft_test_pred.append(preds.detach().cpu().numpy())
#print(data.shape, label.shape, logits.shape, preds.shape)
#print('LABELS:', label)
#print('PREDS:', preds)
#print('LOGITS:', logits)
ft_test_true = np.concatenate(ft_test_true)
ft_test_pred = np.concatenate(ft_test_pred)
ft_test_acc = metrics.accuracy_score(ft_test_true, ft_test_pred)
avg_per_class_acc = metrics.balanced_accuracy_score(
ft_test_true, ft_test_pred)
outstr = 'Test %d, loss: %.6f, test acc: %.6f, test avg acc: %.6f' % (
epoch, ft_test_loss * 1.0 / count, ft_test_acc, avg_per_class_acc)
io.cprint(outstr)
if ft_test_acc > best_ft_test_acc:
print('save now')
best_ft_test_acc = ft_test_acc
torch.save(model.state_dict(), 'pretrained/custommodel.t7')
#torch.save(model.state_dict(), 'pretrained/custommodel.t7')
epochs.append(i)
test_accs.append(ft_test_acc)
fig, ax = plt.subplots()
ax.plot(epochs, train_accs, color='blue', label='train acc')
ax.plot(epochs, test_accs, color='red', label='test acc')
ax.set(xlabel='epoch',
ylabel='accuracy',
title='accuracy values per epoch')
ax.grid()
ax.legend()
fig.savefig("accuracy.png")
plt.show()
def main(opt):
train_dataset = BADataset(opt.dataroot, opt.L, True, False, False)
train_dataloader = BADataloader(train_dataset, batch_size=opt.batchSize, \
shuffle=True, num_workers=opt.workers, drop_last=True)
valid_dataset = BADataset(opt.dataroot, opt.L, False, True, False)
valid_dataloader = BADataloader(valid_dataset, batch_size=opt.batchSize, \
shuffle=True, num_workers=opt.workers, drop_last=True)
test_dataset = BADataset(opt.dataroot, opt.L, False, False, True)
test_dataloader = BADataloader(test_dataset, batch_size=opt.batchSize, \
shuffle=True, num_workers=opt.workers, drop_last=True)
all_dataset = BADataset(opt.dataroot, opt.L, False, False, False)
all_dataloader = BADataloader(all_dataset, batch_size=opt.batchSize, \
shuffle=False, num_workers=opt.workers, drop_last=False)
net = PointNet(d0=opt.d0,
d1=opt.d1,
d2=opt.d2,
d3=opt.d3,
d4=opt.d4,
d5=opt.d5,
d6=opt.d6)
net.double()
print(net)
criterion = nn.CosineSimilarity(dim=1)
if opt.cuda:
net.cuda()
criterion.cuda()
optimizer = optim.Adam(net.parameters(), lr=opt.lr)
early_stopping = EarlyStopping(patience=opt.patience, verbose=True)
os.makedirs(OutputDir, exist_ok=True)
train_loss_ls = []
valid_loss_ls = []
test_loss_ls = []
for epoch in range(0, opt.niter):
train_loss = train(epoch, train_dataloader, net, criterion, optimizer,
opt)
valid_loss = valid(valid_dataloader, net, criterion, opt)
test_loss = test(test_dataloader, net, criterion, opt)
train_loss_ls.append(train_loss)
valid_loss_ls.append(valid_loss)
test_loss_ls.append(test_loss)
early_stopping(valid_loss, net, OutputDir)
if early_stopping.early_stop:
print("Early stopping")
break
df = pd.DataFrame({
'epoch': [i for i in range(1,
len(train_loss_ls) + 1)],
'train_loss': train_loss_ls,
'valid_loss': valid_loss_ls,
'test_loss': test_loss_ls
})
df.to_csv(OutputDir + '/loss.csv', index=False)
net.load_state_dict(torch.load(OutputDir + '/checkpoint.pt'))
inference(all_dataloader, net, opt, OutputDir)
parser.add_argument('--seed',
type=int,
default=1,
metavar='S',
help='random seed (default: 1)')
parser.add_argument('--num_points',
type=int,
default=4096,
help='num of points to use')
parser.add_argument('--dropout',
type=float,
default=0.5,
help='dropout rate')
parser.add_argument('--emb_dims',
type=int,
default=1024,
metavar='N',
help='Dimension of embeddings')
parser.add_argument('--k',
type=int,
default=40,
metavar='N',
help='Num of nearest neighbors to use')
args = parser.parse_args()
# load models
if args.model == 'pointnet':
model = PointNet(args)
elif args.model == 'dgcnn':
model = DGCNN(args)
print('#parameters %d' % sum([x.nelement() for x in model.parameters()]))
class FID(object):
def __init__(self, mode, dataset, device, split, path=None):
if mode == "PointNet":
self.model = PointNet().to(device)
if path is None:
path = "./metrics/pointnet_modelnet40/checkpoints/pointnet_max_pc_2048_emb_1024/models/model.t7"
if split == 'train':
self.real_stat_save_path = "./metrics/gt_stats/pointnet_max_pc_2048_emb_1024/%s-train.npz" % dataset
elif split == 'test':
self.real_stat_save_path = "./metrics/gt_stats/pointnet_max_pc_2048_emb_1024/%s-test.npz" % dataset
else:
raise ValueError('ERROR: unknown split %s!' % split)
print('Using PointNet, gt_stat_fn: %s\n' %
self.real_stat_save_path)
else:
raise ValueError('ERROR: unknown FID mode %s!' % mode)
self.model.load_state_dict(torch.load(path))
self.model = self.model.eval()
self.device = device
def get_fid(self, fake_pts, batch_size=32):
f = np.load(self.real_stat_save_path)
real_mean, real_cov = f['mean'], f['cov']
fake_feature_list = []
with torch.no_grad():
b, _, _ = fake_pts.shape
for i in range(b // batch_size + 1):
fake_pts_batch = fake_pts[i * batch_size:min((i + 1) *
batch_size, b)]
if fake_pts_batch.shape[0] > 0:
fake_feature_batch = self.model(
torch.Tensor(fake_pts_batch).to(
self.device))[1].cpu().detach().numpy()
fake_feature_list.append(fake_feature_batch)
fake_feature = np.concatenate(fake_feature_list, 0)
fake_mean = np.mean(fake_feature, axis=0)
fake_cov = np.cov(fake_feature, rowvar=False)
fid = self.calculate_frechet_distance(real_mean, real_cov, fake_mean,
fake_cov)
return fid
@staticmethod
def calculate_frechet_distance(mu1, sigma1, mu2, sigma2, eps=1e-6):
"""Numpy implementation of the Frechet Distance.
The Frechet distance between two multivariate Gaussians X_1 ~ N(mu_1, C_1)
and X_2 ~ N(mu_2, C_2) is
d^2 = ||mu_1 - mu_2||^2 + Tr(C_1 + C_2 - 2*sqrt(C_1*C_2)).
Stable version by Dougal J. Sutherland.
Params:
-- mu1 : Numpy array containing the activations of a layer of the
inception net (like returned by the function 'get_predictions')
for generated samples.
-- mu2 : The sample mean over activations, precalculated on an
representative data set.
-- sigma1: The covariance matrix over activations for generated samples.
-- sigma2: The covariance matrix over activations, precalculated on an
representative data set.
Returns:
-- : The Frechet Distance.
"""
mu1 = np.atleast_1d(mu1)
mu2 = np.atleast_1d(mu2)
sigma1 = np.atleast_2d(sigma1)
sigma2 = np.atleast_2d(sigma2)
assert mu1.shape == mu2.shape, \
'Training and test mean vectors have different lengths'
assert sigma1.shape == sigma2.shape, \
'Training and test covariances have different dimensions'
diff = mu1 - mu2
# Product might be almost singular
covmean, _ = linalg.sqrtm(sigma1.dot(sigma2), disp=False)
if not np.isfinite(covmean).all():
msg = ('fid calculation produces singular product; '
'adding %s to diagonal of cov estimates') % eps
print(msg)
offset = np.eye(sigma1.shape[0]) * eps
covmean = linalg.sqrtm((sigma1 + offset).dot(sigma2 + offset))
# Numerical error might give slight imaginary component
if np.iscomplexobj(covmean):
if not np.allclose(np.diagonal(covmean).imag, 0, atol=1e-3):
m = np.max(np.abs(covmean.imag))
raise ValueError('Imaginary component {}'.format(m))
covmean = covmean.real
tr_covmean = np.trace(covmean)
return (diff.dot(diff) + np.trace(sigma1) + np.trace(sigma2) -
2 * tr_covmean)
def testBIWIID(modelin=args.model,outfile=args.out,optimize=args.opt):
# define model, dataloader, 3dmm eigenvectors, optimization method
calib_net = PointNet(n=1)
sfm_net = PointNet(n=199)
if modelin != "":
calib_path = os.path.join('model','calib_' + modelin)
sfm_path = os.path.join('model','sfm_' + modelin)
calib_net.load_state_dict(torch.load(calib_path))
sfm_net.load_state_dict(torch.load(sfm_path))
calib_net.eval()
sfm_net.eval()
# mean shape and eigenvectors for 3dmm
data3dmm = dataloader.SyntheticLoader()
mu_lm = torch.from_numpy(data3dmm.mu_lm).float().detach()
mu_lm[:,2] = mu_lm[:,2]*-1
lm_eigenvec = torch.from_numpy(data3dmm.lm_eigenvec).float().detach()
sigma = torch.from_numpy(data3dmm.sigma).float().detach()
sigma = torch.diag(sigma.squeeze())
lm_eigenvec = torch.mm(lm_eigenvec, sigma)
# define loader
loader = dataloader.BIWIIDLoader()
f_pred = []
shape_pred = []
error_2d = []
error_relf = []
error_rel3d = []
for idx in range(len(loader)):
batch = loader[idx]
x_cam_gt = batch['x_cam_gt']
fgt = batch['f_gt']
x_img = batch['x_img']
x_img_gt = batch['x_img_gt']
M = x_img_gt.shape[0]
N = 68
ptsI = x_img.reshape((M,N,2)).permute(0,2,1)
x = ptsI.unsqueeze(0).permute(0,2,1,3)
# run the model
f = calib_net(x) + 300
betas = sfm_net(x)
betas = betas.squeeze(0).unsqueeze(-1)
shape = mu_lm + torch.mm(lm_eigenvec,betas).squeeze().view(N,3)
# additional optimization on initial solution
if optimize:
calib_net.load_state_dict(torch.load(calib_path))
sfm_net.load_state_dict(torch.load(sfm_path))
calib_net.train()
sfm_net.train()
opt1 = torch.optim.Adam(calib_net.parameters(),lr=1e-4)
opt2 = torch.optim.Adam(sfm_net.parameters(),lr=1e-2)
curloss = 100
for outerloop in itertools.count():
# camera calibration
shape = shape.detach()
for iter in itertools.count():
opt1.zero_grad()
f = calib_net.forward2(x) + 300
K = torch.zeros(3,3).float()
K[0,0] = f
K[1,1] = f
K[2,2] = 1
f_error = torch.mean(torch.abs(f - fgt))
#rmse = torch.norm(shape_gt - shape,dim=1).mean()
# differentiable PnP pose estimation
km,c_w,scaled_betas, alphas = util.EPnP(ptsI,shape,K)
Xc, R, T, mask = util.optimizeGN(km,c_w,scaled_betas,alphas,shape,ptsI,K)
error2d = util.getReprojError2(ptsI,shape,R,T,K,show=False,loss='l1')
error_time = util.getTimeConsistency(shape,R,T)
#error_shape = util.get3DConsistency(ptsI,shape,kinv,R,T)
order = torch.pow(10,-1*torch.floor(torch.log10(error_time)).detach())
#loss = error2d.mean() + order*error_time
loss = error2d.mean()
if iter == 5: break
#if iter > 10 and prev_loss < loss:
# break
#else:
# prev_loss = loss
loss.backward()
opt1.step()
print(f"iter: {iter} | error: {loss.item():.3f} | f/fgt: {f.item():.1f}/{fgt[0].item():.1f} | error2d: {error2d.mean().item():.3f} ")
# sfm
f = f.detach()
for iter in itertools.count():
opt2.zero_grad()
# shape prediction
betas = sfm_net.forward2(x)
shape = torch.sum(betas * lm_eigenvec,1)
shape = shape.reshape(68,3) + mu_lm
K = torch.zeros((3,3)).float()
K[0,0] = f
K[1,1] = f
K[2,2] = 1
#rmse = torch.norm(shape_gt - shape,dim=1).mean().detach()
#rmse = torch.norm(shape_gt - shape,dim=1).mean().detach()
# differentiable PnP pose estimation
km,c_w,scaled_betas,alphas = util.EPnP(ptsI,shape,K)
Xc, R, T, mask = util.optimizeGN(km,c_w,scaled_betas,alphas,shape,ptsI,K)
error2d = util.getReprojError2(ptsI,shape,R,T,K,show=False,loss='l1')
#loss = rmse
loss = error2d.mean()
if iter == 5: break
if iter > 10 and prev_loss < loss:
break
else:
prev_loss = loss
loss.backward()
opt2.step()
print(f"iter: {iter} | error: {loss.item():.3f} | f/fgt: {f.item():.1f}/{fgt[0].item():.1f} | error2d: {error2d.mean().item():.3f} ")
# closing condition for outerloop on dual objective
if torch.abs(curloss - loss) < 0.01: break
curloss = loss
else:
K = torch.zeros(3,3).float()
K[0,0] = f
K[1,1] = f
K[2,2] = 1
km,c_w,scaled_betas,alphas = util.EPnP(ptsI,shape,K)
Xc, R, T, mask = util.optimizeGN(km,c_w,scaled_betas,alphas,shape,ptsI,K)
# get errors
reproj_errors2 = util.getReprojError2(ptsI,shape,R,T,K)
rel_errors = util.getRelReprojError3(x_cam_gt,shape,R,T)
reproj_error = reproj_errors2.mean()
rel_error = rel_errors.mean()
f_error = torch.abs(fgt - f) / fgt
# save final prediction
f_pred.append(f.detach().cpu().item())
shape_pred.append(shape.detach().cpu().numpy())
error_2d.append(reproj_error.cpu().data.item())
error_rel3d.append(rel_error.cpu().data.item())
error_relf.append(f_error.cpu().data.item())
print(f" f/fgt: {f[0].item():.3f}/{fgt.item():.3f} | f_error_rel: {f_error.item():.4f} | rel rmse: {rel_error.item():.4f} | 2d error: {reproj_error.item():.4f}")
#end for
# prepare output file
out_shape = np.stack(shape_pred)
out_f = np.stack(f_pred)
matdata = {}
matdata['shape'] = np.stack(out_shape)
matdata['f'] = np.stack(out_f)
matdata['error_2d'] = np.array(error_2d)
matdata['error_rel3d'] = np.array(error_rel3d)
matdata['error_relf'] = np.array(error_relf)
scipy.io.savemat(outfile,matdata)
print(f"MEAN seterror_2d: {np.mean(error_2d)}")
print(f"MEAN seterror_rel3d: {np.mean(error_rel3d)}")
print(f"MEAN seterror_relf: {np.mean(error_relf)}")
def test(modelin=args.model,outfile=args.out,optimize=args.opt):
# define model, dataloader, 3dmm eigenvectors, optimization method
calib_net = PointNet(n=1)
sfm_net = PointNet(n=199)
if modelin != "":
calib_path = os.path.join('model','calib_' + modelin)
sfm_path = os.path.join('model','sfm_' + modelin)
calib_net.load_state_dict(torch.load(calib_path))
sfm_net.load_state_dict(torch.load(sfm_path))
calib_net.eval()
sfm_net.eval()
# mean shape and eigenvectors for 3dmm
M = 100
data3dmm = dataloader.SyntheticLoader()
mu_lm = torch.from_numpy(data3dmm.mu_lm).float().detach()
mu_lm[:,2] = mu_lm[:,2]*-1
lm_eigenvec = torch.from_numpy(data3dmm.lm_eigenvec).float().detach()
sigma = torch.from_numpy(data3dmm.sigma).float().detach()
sigma = torch.diag(sigma.squeeze())
lm_eigenvec = torch.mm(lm_eigenvec, sigma)
# sample from f testing set
allerror_2d = []
allerror_3d = []
allerror_rel3d = []
allerror_relf = []
all_f = []
all_fpred = []
all_depth = []
out_shape = []
out_f = []
seterror_3d = []
seterror_rel3d = []
seterror_relf = []
seterror_2d = []
f_vals = [i*100 for i in range(4,15)]
for f_test in f_vals:
# create dataloader
loader = dataloader.TestLoader(f_test)
f_pred = []
shape_pred = []
error_2d = []
error_3d = []
error_rel3d = []
error_relf = []
M = 100;
N = 68;
batch_size = 1;
for j,data in enumerate(loader):
if j == 10: break
# load the data
x_cam_gt = data['x_cam_gt']
shape_gt = data['x_w_gt']
fgt = data['f_gt']
x_img = data['x_img']
x_img_gt = data['x_img_gt']
T_gt = data['T_gt']
all_depth.append(np.mean(T_gt[:,2]))
all_f.append(fgt.numpy()[0])
ptsI = x_img.reshape((M,N,2)).permute(0,2,1)
x = x_img.unsqueeze(0).permute(0,2,1)
# run the model
f = calib_net(x) + 300
betas = sfm_net(x)
betas = betas.squeeze(0).unsqueeze(-1)
shape = mu_lm + torch.mm(lm_eigenvec,betas).squeeze().view(N,3)
# additional optimization on initial solution
if optimize:
calib_net.load_state_dict(torch.load(calib_path))
sfm_net.load_state_dict(torch.load(sfm_path))
calib_net.train()
sfm_net.train()
opt1 = torch.optim.Adam(calib_net.parameters(),lr=1e-4)
opt2 = torch.optim.Adam(sfm_net.parameters(),lr=1e-2)
curloss = 100
for outerloop in itertools.count():
# camera calibration
shape = shape.detach()
for iter in itertools.count():
opt1.zero_grad()
print(x.shape)
quit()
f = calib_net(x) + 300
K = torch.zeros(3,3).float()
K[0,0] = f
K[1,1] = f
K[2,2] = 1
f_error = torch.mean(torch.abs(f - fgt))
rmse = torch.norm(shape_gt - shape,dim=1).mean()
# differentiable PnP pose estimation
km,c_w,scaled_betas, alphas = util.EPnP(ptsI,shape,K)
Xc, R, T, mask = util.optimizeGN(km,c_w,scaled_betas,alphas,shape,ptsI,K)
error2d = util.getReprojError2(ptsI,shape,R,T,K,show=False,loss='l1')
#error2d = util.getReprojError2_(ptsI,Xc,K,show=True,loss='l1')
error_time = util.getTimeConsistency(shape,R,T)
loss = error2d.mean() + 0.01*error_time
if iter == 5: break
loss.backward()
opt1.step()
print(f"iter: {iter} | error: {loss.item():.3f} | f/fgt: {f.item():.1f}/{fgt[0].item():.1f} | error2d: {error2d.mean().item():.3f} | rmse: {rmse.item():.3f} ")
# sfm
f = f.detach()
for iter in itertools.count():
opt2.zero_grad()
# shape prediction
betas = sfm_net(x)
shape = torch.sum(betas * lm_eigenvec,1)
shape = shape.reshape(68,3) + mu_lm
K = torch.zeros((3,3)).float()
K[0,0] = f
K[1,1] = f
K[2,2] = 1
#rmse = torch.norm(shape_gt - shape,dim=1).mean().detach()
rmse = torch.norm(shape_gt - shape,dim=1).mean().detach()
# differentiable PnP pose estimation
km,c_w,scaled_betas,alphas = util.EPnP(ptsI,shape,K)
Xc, R, T, mask = util.optimizeGN(km,c_w,scaled_betas,alphas,shape,ptsI,K)
error2d = util.getReprojError2(ptsI,shape,R,T,K,show=False,loss='l1')
#loss = rmse
loss = error2d.mean()
if iter == 5: break
if iter > 10 and prev_loss < loss:
break
else:
prev_loss = loss
loss.backward()
opt2.step()
print(f"iter: {iter} | error: {loss.item():.3f} | f/fgt: {f.item():.1f}/{fgt[0].item():.1f} | error2d: {error2d.mean().item():.3f} | rmse: {rmse.item():.3f} ")
# closing condition for outerloop on dual objective
if torch.abs(curloss - loss) < 0.01: break
curloss = loss
else:
K = torch.zeros(3,3).float()
K[0,0] = f
K[1,1] = f
K[2,2] = 1
km,c_w,scaled_betas,alphas = util.EPnP(ptsI,shape,K)
Xc, R, T, mask = util.optimizeGN(km,c_w,scaled_betas,alphas,shape,ptsI,K)
all_fpred.append(f.detach().numpy()[0])
# get errors
reproj_errors2 = util.getReprojError2(ptsI,shape,R,T,K,show=False)
reproj_errors3 = torch.norm(shape_gt - shape,dim=1).mean()
rel_errors = util.getRelReprojError3(x_cam_gt,shape,R,T)
reproj_error = reproj_errors2.mean()
reconstruction_error = reproj_errors3.mean()
rel_error = rel_errors.mean()
f_error = torch.abs(fgt - f) / fgt
# save final prediction
f_pred.append(f.detach().cpu().item())
shape_pred.append(shape.detach().cpu().numpy())
allerror_3d.append(reproj_error.data.numpy())
allerror_2d.append(reconstruction_error.data.numpy())
allerror_rel3d.append(rel_error.data.numpy())
error_2d.append(reproj_error.cpu().data.item())
error_3d.append(reconstruction_error.cpu().data.item())
error_rel3d.append(rel_error.cpu().data.item())
error_relf.append(f_error.cpu().data.item())
print(f"f/sequence: {f_test}/{j} | f/fgt: {f[0].item():.3f}/{fgt.item():.3f} | f_error_rel: {f_error.item():.4f} | rmse: {reconstruction_error.item():.4f} | rel rmse: {rel_error.item():.4f} | 2d error: {reproj_error.item():.4f}")
avg_2d = np.mean(error_2d)
avg_rel3d = np.mean(error_rel3d)
avg_3d = np.mean(error_3d)
avg_relf = np.mean(error_relf)
seterror_2d.append(avg_2d)
seterror_3d.append(avg_3d)
seterror_rel3d.append(avg_rel3d)
seterror_relf.append(avg_relf)
out_f.append(np.stack(f_pred))
out_shape.append(np.stack(shape_pred,axis=0))
print(f"f_error_rel: {avg_relf:.4f} | rel rmse: {avg_rel3d:.4f} | 2d error: {reproj_error.item():.4f} | rmse: {avg_3d:.4f} |")
out_shape = np.stack(out_shape)
out_f = np.stack(out_f)
all_f = np.stack(all_f).flatten()
all_fpred = np.stack(all_fpred).flatten()
all_d = np.stack(all_depth).flatten()
allerror_2d = np.stack(allerror_2d).flatten()
allerror_3d = np.stack(allerror_3d).flatten()
allerror_rel3d = np.stack(allerror_rel3d).flatten()
matdata = {}
matdata['fvals'] = np.array(f_vals)
matdata['all_f'] = np.array(all_f)
matdata['all_fpred'] = np.array(all_fpred)
matdata['all_d'] = np.array(all_depth)
matdata['error_2d'] = allerror_2d
matdata['error_3d'] = allerror_3d
matdata['error_rel3d'] = allerror_rel3d
matdata['seterror_2d'] = np.array(seterror_2d)
matdata['seterror_3d'] = np.array(seterror_3d)
matdata['seterror_rel3d'] = np.array(seterror_rel3d)
matdata['seterror_relf'] = np.array(seterror_relf)
matdata['shape'] = np.stack(out_shape)
matdata['f'] = np.stack(out_f)
scipy.io.savemat(outfile,matdata)
print(f"MEAN seterror_2d: {np.mean(seterror_2d)}")
print(f"MEAN seterror_3d: {np.mean(seterror_3d)}")
print(f"MEAN seterror_rel3d: {np.mean(seterror_rel3d)}")
print(f"MEAN seterror_relf: {np.mean(seterror_relf)}")
def train(args, io):
train_loader = DataLoader(ModelNet40(partition='train',
num_points=args.num_points),
num_workers=8,
batch_size=args.batch_size,
shuffle=True,
drop_last=True)
test_loader = DataLoader(ModelNet40(partition='test',
num_points=args.num_points),
num_workers=8,
batch_size=args.test_batch_size,
shuffle=True,
drop_last=False)
device = torch.device("cuda" if args.cuda else "cpu")
#Try to load models
if args.model == 'pointnet':
model = PointNet(args).to(device)
elif args.model == 'dgcnn':
model = DGCNN(args).to(device)
else:
raise Exception("Not implemented")
print(str(model))
model = nn.DataParallel(model)
print("Let's use", torch.cuda.device_count(), "GPUs!")
if args.use_sgd:
print("Use SGD")
opt = optim.SGD(model.parameters(),
lr=args.lr * 100,
momentum=args.momentum,
weight_decay=1e-4)
else:
print("Use Adam")
opt = optim.Adam(model.parameters(), lr=args.lr, weight_decay=1e-4)
scheduler = CosineAnnealingLR(opt, args.epochs, eta_min=args.lr)
criterion = cal_loss
best_test_acc = 0
for epoch in range(args.epochs):
scheduler.step()
####################
# Train
####################
train_loss = 0.0
count = 0.0
model.train()
train_pred = []
train_true = []
for data, label in train_loader:
data, label = data.to(device), label.to(device).squeeze()
data = data.permute(0, 2, 1)
batch_size = data.size()[0]
opt.zero_grad()
logits = model(data)
loss = criterion(logits, label)
loss.backward()
opt.step()
preds = logits.max(dim=1)[1]
count += batch_size
train_loss += loss.item() * batch_size
train_true.append(label.cpu().numpy())
train_pred.append(preds.detach().cpu().numpy())
train_true = np.concatenate(train_true)
train_pred = np.concatenate(train_pred)
outstr = 'Train %d, loss: %.6f, train acc: %.6f, train avg acc: %.6f' % (
epoch, train_loss * 1.0 / count,
metrics.accuracy_score(train_true, train_pred),
metrics.balanced_accuracy_score(train_true, train_pred))
io.cprint(outstr)
####################
# Test
####################
test_loss = 0.0
count = 0.0
model.eval()
test_pred = []
test_true = []
for data, label in test_loader:
data, label = data.to(device), label.to(device).squeeze()
data = data.permute(0, 2, 1)
batch_size = data.size()[0]
logits = model(data)
loss = criterion(logits, label)
preds = logits.max(dim=1)[1]
count += batch_size
test_loss += loss.item() * batch_size
test_true.append(label.cpu().numpy())
test_pred.append(preds.detach().cpu().numpy())
test_true = np.concatenate(test_true)
test_pred = np.concatenate(test_pred)
test_acc = metrics.accuracy_score(test_true, test_pred)
avg_per_class_acc = metrics.balanced_accuracy_score(
test_true, test_pred)
outstr = 'Test %d, loss: %.6f, test acc: %.6f, test avg acc: %.6f' % (
epoch, test_loss * 1.0 / count, test_acc, avg_per_class_acc)
io.cprint(outstr)
if test_acc >= best_test_acc:
best_test_acc = test_acc
torch.save(model.state_dict(),
'checkpoints/%s/models/model.t7' % args.exp_name)
def test(args, io):
test_loader = DataLoader(ModelNet40(partition='test',
num_points=args.num_points),
batch_size=args.test_batch_size,
shuffle=True,
drop_last=False)
device = torch.device("cuda" if args.cuda else "cpu")
#Try to load models
if args.model == 'pointnet':
model = PointNet(args).to(device)
elif args.model == 'dgcnn':
model = DGCNN(args).to(device)
elif args.model == 'ssg':
model = PointNet2SSG(output_classes=40, dropout_prob=0)
model.to(device)
elif args.model == 'msg':
model = PointNet2MSG(output_classes=40, dropout_prob=0)
model.to(device)
elif args.model == 'ognet':
# [64,128,256,512]
model = Model_dense(20,
args.feature_dims, [512],
output_classes=40,
init_points=768,
input_dims=3,
dropout_prob=args.dropout,
id_skip=args.id_skip,
drop_connect_rate=args.drop_connect_rate,
cluster='xyzrgb',
pre_act=args.pre_act,
norm=args.norm_layer)
if args.efficient:
model = ModelE_dense(20,
args.feature_dims, [512],
output_classes=40,
init_points=768,
input_dims=3,
dropout_prob=args.dropout,
id_skip=args.id_skip,
drop_connect_rate=args.drop_connect_rate,
cluster='xyzrgb',
pre_act=args.pre_act,
norm=args.norm_layer,
gem=args.gem,
ASPP=args.ASPP)
model.to(device)
elif args.model == 'ognet-small':
# [48,96,192,384]
model = Model_dense(20,
args.feature_dims, [512],
output_classes=40,
init_points=768,
input_dims=3,
dropout_prob=args.dropout,
id_skip=args.id_skip,
drop_connect_rate=args.drop_connect_rate,
cluster='xyzrgb',
pre_act=args.pre_act,
norm=args.norm_layer)
model.to(device)
else:
raise Exception("Not implemented")
try:
model.load_state_dict(torch.load(args.model_path))
except:
model = nn.DataParallel(model)
model.load_state_dict(torch.load(args.model_path))
model = model.eval()
model = model.module
batch0, label0 = next(iter(test_loader))
batch0 = batch0[0].unsqueeze(0)
print(batch0.shape)
print(model)
macs, params = get_model_complexity_info(model,
batch0, ((1024, 3)),
as_strings=True,
print_per_layer_stat=False,
verbose=True)
print('{:<30} {:<8}'.format('Computational complexity: ', macs))
print('{:<30} {:<8}'.format('Number of parameters: ', params))
test_acc = 0.0
count = 0.0
test_true = []
test_pred = []
for data, label in test_loader:
data, label = data.to(device), label.to(device).squeeze()
batch_size = data.size()[0]
if args.model == 'ognet' or args.model == 'ognet-small' or args.model == 'ssg' or args.model == 'msg':
logits = model(data, data)
#logits = model(1.1*data, 1.1*data)
else:
data = data.permute(0, 2, 1)
logits = model(data)
preds = logits.max(dim=1)[1]
test_true.append(label.cpu().numpy())
test_pred.append(preds.detach().cpu().numpy())
test_true = np.concatenate(test_true)
test_pred = np.concatenate(test_pred)
test_acc = metrics.accuracy_score(test_true, test_pred)
avg_per_class_acc = metrics.balanced_accuracy_score(test_true, test_pred)
outstr = 'Test :: test acc: %.6f, test avg acc: %.6f' % (test_acc,
avg_per_class_acc)
io.cprint(outstr)
allerror_rel3d = np.stack(allerror_rel3d).flatten()
matdata = {}
matdata['fvals'] = np.array(f_vals)
matdata['all_f'] = np.array(all_f)
matdata['all_d'] = np.array(all_depth)
matdata['error_2d'] = allerror_2d
matdata['error_3d'] = allerror_3d
matdata['error_rel3d'] = allerror_rel3d
matdata['seterror_2d'] = np.array(seterror_2d)
matdata['seterror_3d'] = np.array(seterror_3d)
matdata['seterror_rel3d'] = np.array(seterror_rel3d)
matdata['seterror_relf'] = np.array(seterror_relf)
scipy.io.savemat(outfile,matdata)
print(f"MEAN seterror_2d: {np.mean(seterror_2d)}")
print(f"MEAN seterror_3d: {np.mean(seterror_3d)}")
print(f"MEAN seterror_rel3d: {np.mean(seterror_rel3d)}")
print(f"MEAN seterror_relf: {np.mean(seterror_relf)}")
#end function
####################################################################################3
if __name__ == '__main__':
model = PointNet(k=1+199, feature_transform=args.feat_trans)
test(model)
#testBIWI(model)
import sys
import torch
import torch.nn as nn
import numpy as np
from progressbar import ProgressBar
from model import PointNet
BASE_DIR = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.join(BASE_DIR, '..'))
category = sys.argv[1]
split = sys.argv[2]
print(category, split)
device = torch.device('cuda:0')
model = PointNet().to(device)
path = "./pointnet_modelnet40/checkpoints/pointnet_max_pc_2048_emb_1024/models/model.t7"
real_stat_save_path = "./gt_stats/pointnet_max_pc_2048_emb_1024/%s-%s.npz" % (
category, split)
model.load_state_dict(torch.load(path))
model.eval()
print('Loading all real data ...')
real_pts = np.load('./gt_stats/real_pcs/%s-%s-real-pcs.npy' %
(category, split))
print('real_pts: ', real_pts.shape)
print('Calculating real statistics...')
b, _, _ = real_pts.shape
batch_size = 32