Pointnet++ Part segmentation

This repo is implementation for PointNet++ part segmentation model based on PyTorch and pytorch_geometric. It can achieve comparable or better performance even compared with PointCNN on Shapenet dataset.

The model has been mergered into pytorch_geometric as a point cloud segmentation example, you can try it.

Performance

Segmentation on A subset of shapenet.

Method	mcIoU	Airplane	Bag	Cap	Car	Chair	Earphone	Guitar	Knife	Lamp	Laptop	Motorbike	Mug	Pistol	Rocket	Skateboard	Table
PointNet++	81.9	82.4	79.0	87.7	77.3	90.8	71.8	91.0	85.9	83.7	95.3	71.6	94.1	81.3	58.7	76.4	82.6
PointCNN	84.6	84.11	86.47	86.04	80.83	90.62	79.70	92.32	88.44	85.31	96.11	77.20	95.28	84.21	64.23	80.00	82.99
PointNet++(this repo)	84.68	85.42	85.92	88.39	79.73	91.86	75.37	92.95	88.56	85.72	97.00	72.94	96.88	84.52	64.38	79.39	85.91

mcIOU: mean per-class pIoU

Requirements

• PyTorch
• pytorch_geometric
• Open3D(optional, for visualization of segmentation result)

Quickly install pytorch_geometric and Open3D with Anaconda

$ pip install --verbose --no-cache-dir torch-scatter
$ pip install --verbose --no-cache-dir torch-sparse
$ pip install --verbose --no-cache-dir torch-cluster
$ pip install --verbose --no-cache-dir torch-spline-conv (optional)
$ pip install torch-geometric

# optional
conda install -c open3d-admin open3d

Usage

Training

python main.py

Show segmentation result

python vis/show_seg_res.py

Sample segmentation result

Links

• pointnet.pytorch by fxia22. This repo's tranining code is heavily borrowed from fxia22's repo.
• Official PointNet and PointNet++ tensorflow implementations
• PointNet++ classification example of pytorch_geometric library