PointCNN: Convolution On X-Transformed Points

Created by Yangyan Li, Rui Bu, Mingchao Sun, Wei Wu, Xinhan Di, and Baoquan Chen.


PointCNN is a simple and general framework for feature learning from point cloud, which refreshed five benchmark records in point cloud processing (as of Jan. 23, 2018), including:

  • classification accuracy on ModelNet40 (91.7%, with 1024 input points only)
  • classification accuracy on ScanNet (77.9%)
  • segmentation part averaged IoU on ShapeNet Parts (86.13%)
  • segmentation mean IoU on S3DIS (65.39%)
  • per voxel labelling accuracy on ScanNet (85.1%)

See our preprint on arXiv (accepted to NeurIPS 2018) for more details.

Pretrained models can be downloaded from here.

Performance on Recent Benchmarks

Revisiting Point Cloud Classification: A New Benchmark Dataset and Classification Model on Real-World Data

PartNet: A Large-scale Benchmark for Fine-grained and Hierarchical Part-level 3D Object Understanding

ABC: A Big CAD Model Dataset For Geometric Deep Learning

Practical Applications

3D cities: Deep Learning in three-dimensional space (from Esri)

PointCNN: replacing 50,000 man hours with AI (from Esri)Point Cloud Segmentation using PointCNN in ArcGIS API for Python (from Esri)

More Implementations

We highly welcome issues, rather than emails, for PointCNN related questions.


Our code is released under MIT License (see LICENSE file for details).

Code Organization

The core X-Conv and PointCNN architecture are defined in pointcnn.py.

The network/training/data augmentation hyper parameters for classification tasks are defined in pointcnn_cls, for segmentation tasks are defined in pointcnn_seg.

Explanation of X-Conv and X-DeConv Parameters

Take the xconv_params and xdconv_params from shapenet_x8_2048_fps.py for example:

xconv_param_name = ('K', 'D', 'P', 'C', 'links')
xconv_params = [dict(zip(xconv_param_name, xconv_param)) for xconv_param in
                [(8, 1, -1, 32 * x, []),
                 (12, 2, 768, 32 * x, []),
                 (16, 2, 384, 64 * x, []),
                 (16, 6, 128, 128 * x, [])]]

xdconv_param_name = ('K', 'D', 'pts_layer_idx', 'qrs_layer_idx')
xdconv_params = [dict(zip(xdconv_param_name, xdconv_param)) for xdconv_param in
                 [(16, 6, 3, 2),
                  (12, 6, 2, 1),
                  (8, 6, 1, 0),
                  (8, 4, 0, 0)]]

Each element in xconv_params is a tuple of (K, D, P, C, links), where K is the neighborhood size, D is the dilation rate, P is the representative point number in the output (-1 means all input points are output representative points), and C is the output channel number. The links are used for adding DenseNet style links, e.g., [-1, -2] will tell the current layer to receive inputs from the previous two layers. Each element specifies the parameters of one X-Conv layer, and they are stacked to create a deep network.

Each element in xdconv_params is a tuple of (K, D, pts_layer_idx, qrs_layer_idx), where K and D have the same meaning as that in xconv_params, pts_layer_idx specifies the output of which X-Conv layer (from the xconv_params) will be the input of this X-DeConv layer, and qrs_layer_idx specifies the output of which X-Conv layer (from the xconv_params) will be forwarded and fused with the output of this X-DeConv layer. The P and C parameters of this X-DeConv layer is also determined by qrs_layer_idx. Similarly, each element specifies the parameters of one X-DeConv layer, and they are stacked to create a deep network.

PointCNN Usage

PointCNN is implemented and tested with Tensorflow 1.6 in python3 scripts. Tensorflow before 1.5 version is not recommended, because of API. It has dependencies on some python packages such as transforms3d, h5py, plyfile, and maybe more if it complains. Install these packages before the use of PointCNN.

If you can only use Tensorflow 1.5 because of OS factor(UBUNTU 14.04),please modify "isnan()" to "std::nan()" in "/usr/local/lib/python3.5/dist-packages/tensorflow/include/tensorflow/core/framework/numeric_types.h" line 49

Here we list the commands for training/evaluating PointCNN on classification and segmentation tasks on multiple datasets.



cd data_conversions
python3 ./download_datasets.py -d modelnet
cd ../pointcnn_cls
./train_val_modelnet.sh -g 0 -x modelnet_x3_l4


Please refer to http://www.scan-net.org/ for downloading ScanNet task data and scannet_labelmap, and refer to https://github.com/ScanNet/ScanNet/tree/master/Tasks/Benchmark for downloading ScanNet benchmark files:


|_ data

|_ scannet_labelmap

|_ benchmark

cd ../data/scannet/scannet_dataset_download/
mv ./scannet_labelmap/scannet-labels.combined.tsv ../benchmark/

cd ../../../pointcnn/data_conversions
python extract_scannet_objs.py -f ../../data/scannet/scannet_dataset_download/data/ -b ../../data/scannet/scannet_dataset_download/benchmark/ -o ../../data/scannet/cls/
python prepare_scannet_cls_data.py -f ../../data/scannet/cls/
cd ../pointcnn_cls/
./train_val_scannet.sh -g 0 -x scannet_x3_l4


cd data_conversions
python3 ./download_datasets.py -d tu_berlin
python3 ./prepare_tu_berlin_data.py -f ../../data/tu_berlin/ -a --create-train-test
cd ../pointcnn_cls
./train_val_tu_berlin.sh -g 0 -x tu_berlin_x3_l4


Note that the training/evaluation of quick_draw requires LARGE RAM, as we load all stokes into RAM and converting them into point cloud on-the-fly.

cd data_conversions
python3 ./download_datasets.py -d quick_draw
cd ../pointcnn_cls
./train_val_quick_draw.sh -g 0 -x quick_draw_full_x2_l6


cd data_conversions
python3 ./download_datasets.py -d mnist
python3 ./prepare_mnist_data.py -f ../../data/mnist
cd ../pointcnn_cls
./train_val_mnist.sh -g 0 -x mnist_x2_l4


cd data_conversions
python3 ./download_datasets.py -d cifar10
python3 ./prepare_cifar10_data.py
cd ../pointcnn_cls
./train_val_cifar10.sh -g 0 -x cifar10_x3_l4


We use farthest point sampling (the implementation from PointNet++) in segmentation tasks. Compile FPS before the training/evaluation:

cd sampling
bash tf_sampling_compile.sh


cd data_conversions
python3 ./download_datasets.py -d shapenet_partseg
python3 ./prepare_partseg_data.py -f ../../data/shapenet_partseg
cd ../pointcnn_seg
./train_val_shapenet.sh -g 0 -x shapenet_x8_2048_fps
./test_shapenet.sh -g 0 -x shapenet_x8_2048_fps -l ../../models/seg/pointcnn_seg_shapenet_x8_2048_fps_xxxx/ckpts/iter-xxxxx -r 10
cd ../evaluation
python3 eval_shapenet_seg.py -g ../../data/shapenet_partseg/test_label -p ../../data/shapenet_partseg/test_data_pred_10 -a


Please refer to data_conversions for downloading S3DIS, then:

cd data_conversions
python3 prepare_s3dis_label.py
python3 prepare_s3dis_data.py
python3 prepare_s3dis_filelists.py
mv S3DIS_files/* ../../data/S3DIS/out_part_rgb/
./train_val_s3dis.sh -g 0 -x s3dis_x8_2048_fps -a 1
./test_s3dis.sh -g 0 -x s3dis_x8_2048_fps -a 1 -l ../../models/seg/s3dis_x8_2048_fps_xxxx/ckpts/iter-xxxxx -r 4
cd ../evaluation
python3 s3dis_merge.py -d <path to *_pred.h5>
python3 eval_s3dis.py

We use a hidden marker file to note when prepare is finished to avoid re-processing. This cache can be invalidated by deleting the markers.

Please notice that these command just for Area 1 (specified by -a 1 option) validation. Results on other Areas can be computed by iterating -a option.


Please refer to data_conversions for downloading ScanNet, then:

cd data_conversions
python3 prepare_scannet_seg_data.py
python3 prepare_scannet_seg_filelists.py
cd ../pointcnn_seg
./train_val_scannet.sh -g 0 -x scannet_x8_2048_k8_fps
./test_scannet.sh -g 0 -x scannet_x8_2048_k8_fps -l ../../models/seg/pointcnn_seg_scannet_x8_2048_k8_fps_xxxx/ckpts/iter-xxxxx -r 4
cd ../evaluation
python3 eval_scannet.py -d <path to *_pred.h5> -p <path to scannet_test.pickle>


Please check the free disk space before start, about 900 GB will be required.

cd data_conversions
bash download_semantic3d.sh
bash un7z_semantic3d.sh
python3 prepare_semantic3d_data.py
mkdir ../../data/semantic3d/filelists
python3 prepare_semantic3d_filelists.py
cd ../pointcnn_seg
./train_val_semantic3d.sh -g 0 -x semantic3d_x4_2048_fps
./test_semantic3d.sh -g 0 -x semantic3d_x4_2048_fps -l <path to ckpt>
cd ../evaluation
python3 semantic3d_merge.py -d <path to *_pred.h5> -v <reduced or full>

TensorboardIf you want to monitor your train step, we recommend you use the following command

cd <your path>/PointCNN
tensorboard --logdir=../models/<seg/cls> <--port=6006>

GitHub - yangyanli/PointCNN at pythonawesome.com
PointCNN: Convolution On X-Transformed Points (NeurIPS 2018) - GitHub - yangyanli/PointCNN at pythonawesome.com