3D MinkowskiEngine稀疏模式重建

3D MinkowskiEngine稀疏模式重建

本文看一个简单的演示示例，该示例训练一个3D卷积神经网络，该网络用一个热点向量one-hot vector重构3D稀疏模式。这类似于Octree生成网络ICCV'17。输入的one-hot vector一热向量，来自ModelNet40数据集的3D计算机辅助设计（CAD）椅子索引。

使用MinkowskiEngine.MinkowskiConvolutionTranspose和 MinkowskiEngine.MinkowskiPruning，依次将体素上采样2倍，然后删除一些上采样的体素，以生成目标形状。常规的网络体系结构看起来类似于下图，但是细节可能有所不同。

 

 

 在继续之前，请先阅读训练和数据加载。

创建稀疏模式重建网络

要从矢量创建3D网格世界中定义的稀疏张量，需要从 1×1×1分辨率体素。本文使用一个由块MinkowskiEngine.MinkowskiConvolutionTranspose，MinkowskiEngine.MinkowskiConvolution和MinkowskiEngine.MinkowskiPruning。

在前进过程forward pass中，为1）主要特征和2）稀疏体素分类创建两条路径，以删除不必要的体素。

out = upsample_block(z)

out_cls = classification(out).F

out = pruning(out, out_cls > 0)

在输入的稀疏张量达到目标分辨率之前，网络会重复执行一系列的上采样和修剪操作，以去除不必要的体素。在下图上可视化结果。注意，最终的重建非常精确地捕获了目标几何体。还可视化了上采样和修剪的分层重建过程。

 

 运行示例

要训​​练网络，请转到Minkowski Engine根目录，然后键入：

python -m examples.reconstruction --train

要可视化网络预测或尝试预先训练的模型，请输入：

python -m examples.reconstruction

 

该程序将可视化两个3D形状。左边的一个是目标3D形状，右边的一个是重构的网络预测。

完整的代码可以在example / reconstruction.py找到。

import os
	import sys
	import subprocess
	import argparse
	import logging
	import glob
	import numpy as np
	from time import time
	import urllib
	# Must be imported before large libs
	try:
	import open3d as o3d
	except ImportError:
	raise ImportError('Please install open3d and scipy with `pip install open3d scipy`.')
	import torch
	import torch.nn as nn
	import torch.utils.data
	import torch.optim as optim
	import MinkowskiEngine as ME
	from examples.modelnet40 import InfSampler, resample_mesh
	M = np.array([[0.80656762, -0.5868724, -0.07091862],
	[0.3770505, 0.418344, 0.82632997],
	[-0.45528188, -0.6932309, 0.55870326]])
	assert int(
	o3d.__version__.split('.')[1]
	) >= 8, f'Requires open3d version >= 0.8, the current version is {o3d.__version__}'
	if not os.path.exists('ModelNet40'):
	logging.info('Downloading the fixed ModelNet40 dataset...')
	subprocess.run(["sh", "./examples/download_modelnet40.sh"])
	###############################################################################
	# Utility functions
	###############################################################################
	def PointCloud(points, colors=None):
	pcd = o3d.geometry.PointCloud()
	pcd.points = o3d.utility.Vector3dVector(points)
	if colors is not None:
	pcd.colors = o3d.utility.Vector3dVector(colors)
	return pcd
	def collate_pointcloud_fn(list_data):
	coords, feats, labels = list(zip(*list_data))
	# Concatenate all lists
	return {
	'coords': coords,
	'xyzs': [torch.from_numpy(feat).float() for feat in feats],
	'labels': torch.LongTensor(labels),
	}
	class ModelNet40Dataset(torch.utils.data.Dataset):
	def __init__(self, phase, transform=None, config=None):
	self.phase = phase
	self.files = []
	self.cache = {}
	self.data_objects = []
	self.transform = transform
	self.resolution = config.resolution
	self.last_cache_percent = 0
	self.root = './ModelNet40'
	fnames = glob.glob(os.path.join(self.root, 'chair/train/*.off'))
	fnames = sorted([os.path.relpath(fname, self.root) for fname in fnames])
	self.files = fnames
	assert len(self.files) > 0, "No file loaded"
	logging.info(
	f"Loading the subset {phase} from {self.root} with {len(self.files)} files"
	)
	self.density = 30000
	# Ignore warnings in obj loader
	o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Error)
	def __len__(self):
	return len(self.files)
	def __getitem__(self, idx):
	mesh_file = os.path.join(self.root, self.files[idx])
	if idx in self.cache:
	xyz = self.cache[idx]
	else:
	# Load a mesh, over sample, copy, rotate, voxelization
	assert os.path.exists(mesh_file)
	pcd = o3d.io.read_triangle_mesh(mesh_file)
	# Normalize to fit the mesh inside a unit cube while preserving aspect ratio
	vertices = np.asarray(pcd.vertices)
	vmax = vertices.max(0, keepdims=True)
	vmin = vertices.min(0, keepdims=True)
	pcd.vertices = o3d.utility.Vector3dVector(
	(vertices - vmin) / (vmax - vmin).max())
	# Oversample points and copy
	xyz = resample_mesh(pcd, density=self.density)
	self.cache[idx] = xyz
	cache_percent = int((len(self.cache) / len(self)) * 100)
	if cache_percent > 0 and cache_percent % 10 == 0 and cache_percent != self.last_cache_percent:
	logging.info(
	f"Cached {self.phase}: {len(self.cache)} / {len(self)}: {cache_percent}%"
	)
	self.last_cache_percent = cache_percent
	# Use color or other features if available
	feats = np.ones((len(xyz), 1))
	if len(xyz) < 1000:
	logging.info(
	f"Skipping {mesh_file}: does not have sufficient CAD sampling density after resampling: {len(xyz)}."
	)
	return None
	if self.transform:
	xyz, feats = self.transform(xyz, feats)
	# Get coords
	xyz = xyz * self.resolution
	coords = np.floor(xyz)
	inds = ME.utils.sparse_quantize(coords, return_index=True)
	return (coords[inds], xyz[inds], idx)
	def make_data_loader(phase, augment_data, batch_size, shuffle, num_workers,
	repeat, config):
	dset = ModelNet40Dataset(phase, config=config)
	args = {
	'batch_size': batch_size,
	'num_workers': num_workers,
	'collate_fn': collate_pointcloud_fn,
	'pin_memory': False,
	'drop_last': False
	}
	if repeat:
	args['sampler'] = InfSampler(dset, shuffle)
	else:
	args['shuffle'] = shuffle
	loader = torch.utils.data.DataLoader(dset, **args)
	return loader
	ch = logging.StreamHandler(sys.stdout)
	logging.getLogger().setLevel(logging.INFO)
	logging.basicConfig(
	format=os.uname()[1].split('.')[0] + ' %(asctime)s %(message)s',
	datefmt='%m/%d %H:%M:%S',
	handlers=[ch])
	parser = argparse.ArgumentParser()
	parser.add_argument('--resolution', type=int, default=128)
	parser.add_argument('--max_iter', type=int, default=30000)
	parser.add_argument('--val_freq', type=int, default=1000)
	parser.add_argument('--batch_size', default=16, type=int)
	parser.add_argument('--lr', default=1e-2, type=float)
	parser.add_argument('--momentum', type=float, default=0.9)
	parser.add_argument('--weight_decay', type=float, default=1e-4)
	parser.add_argument('--num_workers', type=int, default=1)
	parser.add_argument('--stat_freq', type=int, default=50)
	parser.add_argument(
	'--weights', type=str, default='modelnet_reconstruction.pth')
	parser.add_argument('--load_optimizer', type=str, default='true')
	parser.add_argument('--train', action='store_true')
	parser.add_argument('--max_visualization', type=int, default=4)
	###############################################################################
	# End of utility functions
	###############################################################################
	class GenerativeNet(nn.Module):
	CHANNELS = [1024, 512, 256, 128, 64, 32, 16]
	def __init__(self, resolution, in_nchannel=512):
	nn.Module.__init__(self)
	self.resolution = resolution
	# Input sparse tensor must have tensor stride 128.
	ch = self.CHANNELS
	# Block 1
	self.block1 = nn.Sequential(
	ME.MinkowskiConvolutionTranspose(
	in_nchannel,
	ch[0],
	kernel_size=2,
	stride=2,
	generate_new_coords=True,
	dimension=3),
	ME.MinkowskiBatchNorm(ch[0]),
	ME.MinkowskiELU(),
	ME.MinkowskiConvolution(ch[0], ch[0], kernel_size=3, dimension=3),
	ME.MinkowskiBatchNorm(ch[0]),
	ME.MinkowskiELU(),
	ME.MinkowskiConvolutionTranspose(
	ch[0],
	ch[1],
	kernel_size=2,
	stride=2,
	generate_new_coords=True,
	dimension=3),
	ME.MinkowskiBatchNorm(ch[1]),
	ME.MinkowskiELU(),
	ME.MinkowskiConvolution(ch[1], ch[1], kernel_size=3, dimension=3),
	ME.MinkowskiBatchNorm(ch[1]),
	ME.MinkowskiELU(),
	)
	self.block1_cls = ME.MinkowskiConvolution(
	ch[1], 1, kernel_size=1, has_bias=True, dimension=3)
	# Block 2
	self.block2 = nn.Sequential(
	ME.MinkowskiConvolutionTranspose(
	ch[1],
	ch[2],
	kernel_size=2,
	stride=2,
	generate_new_coords=True,
	dimension=3),
	ME.MinkowskiBatchNorm(ch[2]),
	ME.MinkowskiELU(),
	ME.MinkowskiConvolution(ch[2], ch[2], kernel_size=3, dimension=3),
	ME.MinkowskiBatchNorm(ch[2]),
	ME.MinkowskiELU(),
	)
	self.block2_cls = ME.MinkowskiConvolution(
	ch[2], 1, kernel_size=1, has_bias=True, dimension=3)
	# Block 3
	self.block3 = nn.Sequential(
	ME.MinkowskiConvolutionTranspose(
	ch[2],
	ch[3],
	kernel_size=2,
	stride=2,
	generate_new_coords=True,
	dimension=3),
	ME.MinkowskiBatchNorm(ch[3]),
	ME.MinkowskiELU(),
	ME.MinkowskiConvolution(ch[3], ch[3], kernel_size=3, dimension=3),
	ME.MinkowskiBatchNorm(ch[3]),
	ME.MinkowskiELU(),
	)
	self.block3_cls = ME.MinkowskiConvolution(
	ch[3], 1, kernel_size=1, has_bias=True, dimension=3)
	# Block 4
	self.block4 = nn.Sequential(
	ME.MinkowskiConvolutionTranspose(
	ch[3],
	ch[4],
	kernel_size=2,
	stride=2,
	generate_new_coords=True,
	dimension=3),
	ME.MinkowskiBatchNorm(ch[4]),
	ME.MinkowskiELU(),
	ME.MinkowskiConvolution(ch[4], ch[4], kernel_size=3, dimension=3),
	ME.MinkowskiBatchNorm(ch[4]),
	ME.MinkowskiELU(),
	)
	self.block4_cls = ME.MinkowskiConvolution(
	ch[4], 1, kernel_size=1, has_bias=True, dimension=3)
	# Block 5
	self.block5 = nn.Sequential(
	ME.MinkowskiConvolutionTranspose(
	ch[4],
	ch[5],
	kernel_size=2,
	stride=2,
	generate_new_coords=True,
	dimension=3),
	ME.MinkowskiBatchNorm(ch[5]),
	ME.MinkowskiELU(),
	ME.MinkowskiConvolution(ch[5], ch[5], kernel_size=3, dimension=3),
	ME.MinkowskiBatchNorm(ch[5]),
	ME.MinkowskiELU(),
	)
	self.block5_cls = ME.MinkowskiConvolution(
	ch[5], 1, kernel_size=1, has_bias=True, dimension=3)
	# Block 6
	self.block6 = nn.Sequential(
	ME.MinkowskiConvolutionTranspose(
	ch[5],
	ch[6],
	kernel_size=2,
	stride=2,
	generate_new_coords=True,
	dimension=3),
	ME.MinkowskiBatchNorm(ch[6]),
	ME.MinkowskiELU(),
	ME.MinkowskiConvolution(ch[6], ch[6], kernel_size=3, dimension=3),
	ME.MinkowskiBatchNorm(ch[6]),
	ME.MinkowskiELU(),
	)
	self.block6_cls = ME.MinkowskiConvolution(
	ch[6], 1, kernel_size=1, has_bias=True, dimension=3)
	# pruning
	self.pruning = ME.MinkowskiPruning()
	def get_batch_indices(self, out):
	return out.coords_man.get_row_indices_per_batch(out.coords_key)
	def get_target(self, out, target_key, kernel_size=1):
	with torch.no_grad():
	target = torch.zeros(len(out), dtype=torch.bool)
	cm = out.coords_man
	strided_target_key = cm.stride(
	target_key, out.tensor_stride[0], force_creation=True)
	ins, outs = cm.get_kernel_map(
	out.coords_key,
	strided_target_key,
	kernel_size=kernel_size,
	region_type=1)
	for curr_in in ins:
	target[curr_in] = 1
	return target
	def valid_batch_map(self, batch_map):
	for b in batch_map:
	if len(b) == 0:
	return False
	return True
	def forward(self, z, target_key):
	out_cls, targets = [], []
	# Block1
	out1 = self.block1(z)
	out1_cls = self.block1_cls(out1)
	target = self.get_target(out1, target_key)
	targets.append(target)
	out_cls.append(out1_cls)
	keep1 = (out1_cls.F > 0).cpu().squeeze()
	# If training, force target shape generation, use net.eval() to disable
	if self.training:
	keep1 += target
	# Remove voxels 32
	out1 = self.pruning(out1, keep1.cpu())
	# Block 2
	out2 = self.block2(out1)
	out2_cls = self.block2_cls(out2)
	target = self.get_target(out2, target_key)
	targets.append(target)
	out_cls.append(out2_cls)
	keep2 = (out2_cls.F > 0).cpu().squeeze()
	if self.training:
	keep2 += target
	# Remove voxels 16
	out2 = self.pruning(out2, keep2.cpu())
	# Block 3
	out3 = self.block3(out2)
	out3_cls = self.block3_cls(out3)
	target = self.get_target(out3, target_key)
	targets.append(target)
	out_cls.append(out3_cls)
	keep3 = (out3_cls.F > 0).cpu().squeeze()
	if self.training:
	keep3 += target
	# Remove voxels 8
	out3 = self.pruning(out3, keep3.cpu())
	# Block 4
	out4 = self.block4(out3)
	out4_cls = self.block4_cls(out4)
	target = self.get_target(out4, target_key)
	targets.append(target)
	out_cls.append(out4_cls)
	keep4 = (out4_cls.F > 0).cpu().squeeze()
	if self.training:
	keep4 += target
	# Remove voxels 4
	out4 = self.pruning(out4, keep4.cpu())
	# Block 5
	out5 = self.block5(out4)
	out5_cls = self.block5_cls(out5)
	target = self.get_target(out5, target_key)
	targets.append(target)
	out_cls.append(out5_cls)
	keep5 = (out5_cls.F > 0).cpu().squeeze()
	if self.training:
	keep5 += target
	# Remove voxels 2
	out5 = self.pruning(out5, keep5.cpu())
	# Block 5
	out6 = self.block6(out5)
	out6_cls = self.block6_cls(out6)
	target = self.get_target(out6, target_key)
	targets.append(target)
	out_cls.append(out6_cls)
	keep6 = (out6_cls.F > 0).cpu().squeeze()
	# Last layer does not require keep
	# if self.training:
	# keep6 += target
	# Remove voxels 1
	out6 = self.pruning(out6, keep6.cpu())
	return out_cls, targets, out6
	def train(net, dataloader, device, config):
	in_nchannel = len(dataloader.dataset)
	optimizer = optim.SGD(
	net.parameters(),
	lr=config.lr,
	momentum=config.momentum,
	weight_decay=config.weight_decay)
	scheduler = optim.lr_scheduler.ExponentialLR(optimizer, 0.95)
	crit = nn.BCEWithLogitsLoss()
	net.train()
	train_iter = iter(dataloader)
	# val_iter = iter(val_dataloader)
	logging.info(f'LR: {scheduler.get_lr()}')
	for i in range(config.max_iter):
	s = time()
	data_dict = train_iter.next()
	d = time() - s
	optimizer.zero_grad()
	init_coords = torch.zeros((config.batch_size, 4), dtype=torch.int)
	init_coords[:, 0] = torch.arange(config.batch_size)
	in_feat = torch.zeros((config.batch_size, in_nchannel))
	in_feat[torch.arange(config.batch_size), data_dict['labels']] = 1
	sin = ME.SparseTensor(
	feats=in_feat,
	coords=init_coords,
	allow_duplicate_coords=True, # for classification, it doesn't matter
	tensor_stride=config.resolution,
	).to(device)
	# Generate target sparse tensor
	cm = sin.coords_man
	target_key = cm.create_coords_key(
	ME.utils.batched_coordinates(data_dict['xyzs']),
	force_creation=True,
	allow_duplicate_coords=True)
	# Generate from a dense tensor
	out_cls, targets, sout = net(sin, target_key)
	num_layers, loss = len(out_cls), 0
	losses = []
	for out_cl, target in zip(out_cls, targets):
	curr_loss = crit(out_cl.F.squeeze(),
	target.type(out_cl.F.dtype).to(device))
	losses.append(curr_loss.item())
	loss += curr_loss / num_layers
	loss.backward()
	optimizer.step()
	t = time() - s
	if i % config.stat_freq == 0:
	logging.info(
	f'Iter: {i}, Loss: {loss.item():.3e}, Depths: {len(out_cls)} Data Loading Time: {d:.3e}, Tot Time: {t:.3e}'
	)
	if i % config.val_freq == 0 and i > 0:
	torch.save(
	{
	'state_dict': net.state_dict(),
	'optimizer': optimizer.state_dict(),
	'scheduler': scheduler.state_dict(),
	'curr_iter': i,
	}, config.weights)
	scheduler.step()
	logging.info(f'LR: {scheduler.get_lr()}')
	net.train()
	def visualize(net, dataloader, device, config):
	in_nchannel = len(dataloader.dataset)
	net.eval()
	crit = nn.BCEWithLogitsLoss()
	n_vis = 0
	for data_dict in dataloader:
	init_coords = torch.zeros((config.batch_size, 4), dtype=torch.int)
	init_coords[:, 0] = torch.arange(config.batch_size)
	in_feat = torch.zeros((config.batch_size, in_nchannel))
	in_feat[torch.arange(config.batch_size), data_dict['labels']] = 1
	sin = ME.SparseTensor(
	feats=in_feat,
	coords=init_coords,
	allow_duplicate_coords=True, # for classification, it doesn't matter
	tensor_stride=config.resolution,
	).to(device)
	# Generate target sparse tensor
	cm = sin.coords_man
	target_key = cm.create_coords_key(
	ME.utils.batched_coordinates(data_dict['xyzs']),
	force_creation=True,
	allow_duplicate_coords=True)
	# Generate from a dense tensor
	out_cls, targets, sout = net(sin, target_key)
	num_layers, loss = len(out_cls), 0
	for out_cl, target in zip(out_cls, targets):
	loss += crit(out_cl.F.squeeze(),
	target.type(out_cl.F.dtype).to(device)) / num_layers
	batch_coords, batch_feats = sout.decomposed_coordinates_and_features
	for b, (coords, feats) in enumerate(zip(batch_coords, batch_feats)):
	pcd = PointCloud(coords)
	pcd.estimate_normals()
	pcd.translate([0.6 * config.resolution, 0, 0])
	pcd.rotate(M)
	opcd = PointCloud(data_dict['xyzs'][b])
	opcd.translate([-0.6 * config.resolution, 0, 0])
	opcd.estimate_normals()
	opcd.rotate(M)
	o3d.visualization.draw_geometries([pcd, opcd])
	n_vis += 1
	if n_vis > config.max_visualization:
	return
	if __name__ == '__main__':
	config = parser.parse_args()
	logging.info(config)
	device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')
	dataloader = make_data_loader(
	'val',
	augment_data=True,
	batch_size=config.batch_size,
	shuffle=True,
	num_workers=config.num_workers,
	repeat=True,
	config=config)
	in_nchannel = len(dataloader.dataset)
	net = GenerativeNet(config.resolution, in_nchannel=in_nchannel)
	net.to(device)
	logging.info(net)
	if config.train:
	train(net, dataloader, device, config)
	else:
	if not os.path.exists(config.weights):
	logging.info(
	f'Downloaing pretrained weights. This might take a while...')
	urllib.request.urlretrieve(
	"https://bit.ly/36d9m1n", filename=config.weights)
	logging.info(f'Loading weights from {config.weights}')
	checkpoint = torch.load(config.weights)
	net.load_state_dict(checkpoint['state_dict'])
	visualize(net, dataloader, device, config)