计图点云库

Github: https://github.com/Jittor/PointCloudLib

已经实现的模型

Model

Classification

Segmentation

PointNet

PointNet ++

PointCNN

DGCNN

PointConv

使用方法

安装依赖

sudo apt install python3.7-dev libomp-dev
sudo python3.7 -m pip install git+https://github.com/Jittor/jittor.git
python3.7 -m pip install sklearn lmdb msgpack_numpy

安装点云库

git clone https://github.com/Jittor/PointCloudLib.git # 将库下载的本地
# 您需要将 ModelNet40 和 ShapeNet 数据集下载到 data_util/data/ 里面
ModelNet40 数据集链接  https://shapenet.cs.stanford.edu/media/modelnet40_normal_resampled.zip 
ShapeNet 数据集链接  https://shapenet.cs.stanford.edu/media/shapenet_part_seg_hdf5_data.zip 

sh train_cls.sh # 点云分类的训练和测试 
sh train_seg.sh # 点云分割的训练和测试 

所依赖的库

Python 3.7
Jittor 
Numpy
sklearn
lmdb
msgpack_numpy
...

实验结果

分类训练效果测试

Model

Input

overall accuracy

PointNet

1024 xyz

87.2

PointNet ++

4096 xyz + normal

92.3

PointCNN

1024 xyz

92.6

DGCNN

1024 xyz

92.9

PointConv

1024 xyz + normal

92.4

分类训练时间测试

Model

Speed up ratio (Compare with Pytorch)

PointNet

1.22

PointNet ++

2.72

PointCNN

2.41

DGCNN

1.22

PointConv

分割训练效果测试

Model

Input

pIoU

PointNet

2048 xyz + cls label

83.5

PointNet ++

2048 xyz + cls label + normal

85.0

PointCNN

2048 xyz + normal

86.0

DGCNN

2048 xyz + cls label

85.1

PointConv

2048 xyz

85.4

分割训练时间测试

Model

Speed up ratio (Compare with Pytorch)

PointNet

1.06

PointNet ++

1.85

PointCNN

None (No pytorch implementation)

DGCNN

1.05

PointConv

None (No pytorch implementation)

目录结构

.
├── data_utils                   # 数据相关工具
│   ├── data                     # 数据存放路径
│   ├── modelnet40_loader.py
│   └── shapenet_loader.py
├── misc
│   ├── layers.py
│   ├── ops.py
│   ├── pointconv_utils.py
│   └── utils.py
├── networks
│   ├── cls
│   │   ├── dgcnn.py
│   │   ├── pointcnn.py
│   │   ├── pointconv.py
│   │   ├── pointnet2.py
│   │   └── pointnet.py
│   └── seg
│       ├── dgcnn_partseg.py
│       ├── pointcnn_partseg.py
│       ├── pointconv_partseg.py
│       ├── pointnet2_partseg.py
│       └── pointnet_partseg.py

├── README.md
├── run_cls.sh
├── run_partseg.sh
├── train_cls.py
└── train_partseg.py

非常欢迎您使用计图的点云库进行相关的研究,如在使用中有问题,欢迎提交 issus。

Reference code :

https://github.com/AnTao97/dgcnn.pytorch