PointCleanNet

This is our implementation of PointCleannet, a network removes outliers and reduces noise in unordered point clouds.

The architecture is similar to PCPNet (with a few smaller modifications).

This code was written by Marie-Julie Rakotosaona, based on the excellent implementation of PCPNet by Paul Guerrero and Yanir Kleiman.

Prerequisites

• CUDA and CuDNN (changing the code to run on CPU should require few changes)
• Python 2.7
• PyTorch 1.0

Setup

Install required python packages, if they are not already installed (tensorboardX is only required for training):

pip install numpy
pip install scipy
pip install tensorboardX

Clone this repository:

git clone https://github.com/mrakotosaon/pointcleannet.git
cd pointcleannet

Download datasets:

cd data
python download_data.py --task denoising
python download_data.py --task outliers_removal

Download pretrained models:

cd models
python download_models.py --task denoising
python download_models.py --task outliers_removal

Data

Our data can be found here: https://nuage.lix.polytechnique.fr/index.php/s/xSRrTNmtgqgeLGa .

It contains the following files:

• Dataset for denoising
• Training set and test set for outliers removal
• Pre-trained models for denoising and outliers removal

In the datasets the input and ground truth point clouds are stored in different files with the same name but with different extensions.

• For denoising: .xyz for input noisy point clouds, .clean_xyz for the ground truth.
• For outliers removal: .xyz for input point clouds with outliers, .outliers for the labels.

Removing outliers

To classify outliers using default settings:

cd outliers_removal
mkdir results
python eval_pcpnet.py

Denoising

To denoise point clouds using default settings:

cd noise_removal
mkdir results
./run.sh

(the input shapes and number of iterations are specified in run.sh file)

Training

To train PCPNet with the default settings:

python train_pcpnet.py

Citation

If you use our work, please cite our paper.

@inproceedings{rakotosaona2020pointcleannet,
  title={POINTCLEANNET: Learning to denoise and remove outliers from dense point clouds},
  author={Rakotosaona, Marie-Julie and La Barbera, Vittorio and Guerrero, Paul and Mitra, Niloy J and Ovsjanikov, Maks},
  booktitle={Computer Graphics Forum},
  volume={39},
  number={1},
  pages={185--203},
  year={2020},
  organization={Wiley Online Library}
}

This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License. For any commercial uses or derivatives, please contact us.