learning3d 0.0.1__py3-none-any.whl

learning3d/examples/test_masknet2.py

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+import open3d as o3d
+import argparse
+import os
+import sys
+import numpy
+import numpy as np
+import torch
+import torch.utils.data
+from torch.utils.data import DataLoader
+from tqdm import tqdm
+
+# Only if the files are in example folder.
+BASE_DIR = os.path.dirname(os.path.abspath(__file__))
+if BASE_DIR[-8:] == 'examples':
+	sys.path.append(os.path.join(BASE_DIR, os.pardir))
+	os.chdir(os.path.join(BASE_DIR, os.pardir))
+	
+from learning3d.models import MaskNet2
+from learning3d.data_utils import RegistrationData, ModelNet40Data
+
+def pc2open3d(data):
+	if torch.is_tensor(data): data = data.detach().cpu().numpy()
+	if len(data.shape) == 2:
+		pc = o3d.geometry.PointCloud()
+		pc.points = o3d.utility.Vector3dVector(data)
+		return pc
+	else:
+		print("Error in the shape of data given to Open3D!, Shape is ", data.shape)
+
+def display_results(template, source, masked_template, masked_source):
+	template = pc2open3d(template)
+	source = pc2open3d(source)
+	masked_template = pc2open3d(masked_template)
+	masked_source = pc2open3d(masked_source)
+	
+	template.paint_uniform_color([1, 0, 0])
+	source.paint_uniform_color([0, 1, 0])
+	# masked_template.paint_uniform_color([0, 0, 1])
+	masked_template.paint_uniform_color([1, 0, 0])
+	masked_source.paint_uniform_color([0, 1, 0])
+
+	o3d.visualization.draw_geometries([template, source])
+	o3d.visualization.draw_geometries([masked_template, masked_source])
+
+def evaluate_metrics(TP, FP, FN, TN, gt_mask):
+	# TP, FP, FN, TN: 		True +ve, False +ve, False -ve, True -ve
+	# gt_mask:				Ground Truth mask [Nt, 1]
+	
+	accuracy = (TP + TN)/gt_mask.shape[1]
+	misclassification_rate = (FN + FP)/gt_mask.shape[1]
+	# Precision: (What portion of positive identifications are actually correct?)
+	precision = TP / (TP + FP)
+	# Recall: (What portion of actual positives are identified correctly?)
+	recall = TP / (TP + FN)
+
+	fscore = (2*precision*recall) / (precision + recall)
+	return accuracy, precision, recall, fscore
+
+# Function used to evaluate the predicted mask with ground truth mask.
+def evaluate_mask(gt_mask, predicted_mask, predicted_mask_idx):
+	# gt_mask:					Ground Truth Mask [Nt, 1]
+	# predicted_mask:			Mask predicted by network [Nt, 1]
+	# predicted_mask_idx:		Point indices chosen by network [Ns, 1]
+
+	if torch.is_tensor(gt_mask): gt_mask = gt_mask.detach().cpu().numpy()
+	if torch.is_tensor(gt_mask): predicted_mask = predicted_mask.detach().cpu().numpy()
+	if torch.is_tensor(predicted_mask_idx): predicted_mask_idx = predicted_mask_idx.detach().cpu().numpy()
+	gt_mask, predicted_mask, predicted_mask_idx = gt_mask.reshape(1,-1), predicted_mask.reshape(1,-1), predicted_mask_idx.reshape(1,-1)
+	
+	gt_idx = np.where(gt_mask == 1)[1].reshape(1,-1) 				# Find indices of points which are actually in source.
+
+	# TP + FP = number of source points.
+	TP = np.intersect1d(predicted_mask_idx[0], gt_idx[0]).shape[0]			# is inliner and predicted as inlier (True Positive) 		(Find common indices in predicted_mask_idx, gt_idx)
+	FP = len([x for x in predicted_mask_idx[0] if x not in gt_idx])			# isn't inlier but predicted as inlier (False Positive)
+	FN = FP															# is inlier but predicted as outlier (False Negative) (due to binary classification)
+	TN = gt_mask.shape[1] - gt_idx.shape[1] - FN 					# is outlier and predicted as outlier (True Negative)
+	return evaluate_metrics(TP, FP, FN, TN, gt_mask)
+
+def test_one_epoch(args, model, test_loader):
+	model.eval()
+	test_loss = 0.0
+	pred  = 0.0
+	count = 0
+
+	for i, data in enumerate(tqdm(test_loader)):
+		template, source, igt, gt_template_mask, gt_source_mask = data
+
+		template = template.to(args.device)
+		source = source.to(args.device)
+		igt = igt.to(args.device)						# [source] = [igt]*[template]
+		gt_template_mask = gt_template_mask.to(args.device)
+		gt_source_mask = gt_source_mask.to(args.device)
+
+		masked_template, masked_source, template_mask, source_mask = model(template, source)
+		
+		# TODO: Implement evaluation strategy.
+		'''
+		Evaluate mask based on classification metrics.
+		accuracy, precision, recall, fscore = evaluate_mask(gt_template_mask, template_mask, predicted_mask_idx = model.mask_idx)
+		precision_list.append(precision)
+		'''
+		
+		# Different ways to visualize results.
+		display_results(template.detach().cpu().numpy()[0], source.detach().cpu().numpy()[0], masked_template.detach().cpu().numpy()[0], masked_source.detach().cpu().numpy()[0])
+
+def test(args, model, test_loader):
+	test_one_epoch(args, model, test_loader)
+
+def options():
+	parser = argparse.ArgumentParser(description='MaskNet: A Fully-Convolutional Network For Inlier Estimation (Testing)')
+
+	# settings for input data
+	parser.add_argument('--num_points', default=1024, type=int,
+						metavar='N', help='points in point-cloud (default: 1024)')
+	parser.add_argument('--partial_source', default=True, type=bool,
+						help='create partial source point cloud in dataset.')
+	parser.add_argument('--partial_template', default=True, type=bool,
+						help='create partial source point cloud in dataset.')
+	parser.add_argument('--noise', default=False, type=bool,
+						help='Add noise in source point clouds.')
+	parser.add_argument('--outliers', default=False, type=bool,
+						help='Add outliers to template point cloud.')
+
+	# settings for on testing
+	parser.add_argument('-j', '--workers', default=1, type=int,
+						metavar='N', help='number of data loading workers (default: 4)')
+	parser.add_argument('-b', '--test_batch_size', default=1, type=int,
+						metavar='N', help='test-mini-batch size (default: 1)')
+	parser.add_argument('--pretrained', default='learning3d/pretrained/exp_masknet2/models/best_model_0.7.t7', type=str,
+						metavar='PATH', help='path to pretrained model file (default: null (no-use))')
+	parser.add_argument('--device', default='cuda:0', type=str,
+						metavar='DEVICE', help='use CUDA if available')
+	parser.add_argument('--unseen', default=False, type=bool,
+						help='Use first 20 categories for training and last 20 for testing')
+
+	args = parser.parse_args()
+	return args
+
+def main():
+	args = options()
+	torch.backends.cudnn.deterministic = True
+
+	testset = RegistrationData('PointNetLK', ModelNet40Data(train=False, num_points=args.num_points),
+									partial_template=args.partial_template, partial_source=args.partial_source, 
+									noise=args.noise, additional_params={'use_masknet': True, 'partial_point_cloud_method': 'planar_crop'})
+	test_loader = DataLoader(testset, batch_size=args.test_batch_size, shuffle=False, drop_last=False, num_workers=args.workers)
+
+	if not torch.cuda.is_available():
+		args.device = 'cpu'
+	args.device = torch.device(args.device)
+
+	# Load Pretrained MaskNet.
+	model = MaskNet2()
+	if args.pretrained:
+		assert os.path.isfile(args.pretrained)
+		model.load_state_dict(torch.load(args.pretrained, map_location='cpu'))
+	model = model.to(args.device)
+
+	test(args, model, test_loader)
+
+if __name__ == '__main__':
+	main()

learning3d/examples/test_pcn.py

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+# author: Vinit Sarode (vinitsarode5@gmail.com) 03/23/2020
+
+import open3d as o3d
+import argparse
+import os
+import sys
+import logging
+import numpy
+import numpy as np
+import torch
+import torch.utils.data
+import torchvision
+from torch.utils.data import DataLoader
+from tensorboardX import SummaryWriter
+from tqdm import tqdm
+
+# Only if the files are in example folder.
+BASE_DIR = os.path.dirname(os.path.abspath(__file__))
+if BASE_DIR[-8:] == 'examples':
+	sys.path.append(os.path.join(BASE_DIR, os.pardir))
+	os.chdir(os.path.join(BASE_DIR, os.pardir))
+	
+from learning3d.models import PCN
+from learning3d.data_utils import ModelNet40Data, ClassificationData
+from learning3d.losses import ChamferDistanceLoss
+
+def display_open3d(input_pc, output):
+	input_pc_ = o3d.geometry.PointCloud()
+	output_ = o3d.geometry.PointCloud()
+	input_pc_.points = o3d.utility.Vector3dVector(input_pc)
+	output_.points = o3d.utility.Vector3dVector(output + np.array([1,0,0]))
+	input_pc_.paint_uniform_color([1, 0, 0])
+	output_.paint_uniform_color([0, 1, 0])
+	o3d.visualization.draw_geometries([input_pc_, output_])
+
+def test_one_epoch(device, model, test_loader):
+	model.eval()
+	test_loss = 0.0
+	pred  = 0.0
+	count = 0
+	for i, data in enumerate(tqdm(test_loader)):
+		points, _ = data
+
+		points = points.to(device)
+
+		output = model(points)
+		loss_val = ChamferDistanceLoss()(points, output['coarse_output'])
+		print("Loss Val: ", loss_val)
+		display_open3d(points[0].detach().cpu().numpy(), output['coarse_output'][0].detach().cpu().numpy())
+
+		test_loss += loss_val.item()
+		count += 1
+
+	test_loss = float(test_loss)/count
+	return test_loss
+
+def test(args, model, test_loader):
+	test_loss = test_one_epoch(args.device, model, test_loader)
+
+def options():
+	parser = argparse.ArgumentParser(description='Point Completion Network')
+	parser.add_argument('--exp_name', type=str, default='exp_pcn', metavar='N',
+						help='Name of the experiment')
+	parser.add_argument('--dataset_path', type=str, default='ModelNet40',
+						metavar='PATH', help='path to the input dataset') # like '/path/to/ModelNet40'
+	parser.add_argument('--eval', type=bool, default=False, help='Train or Evaluate the network.')
+
+	# settings for input data
+	parser.add_argument('--dataset_type', default='modelnet', choices=['modelnet', 'shapenet2'],
+						metavar='DATASET', help='dataset type (default: modelnet)')
+	parser.add_argument('--num_points', default=1024, type=int,
+						metavar='N', help='points in point-cloud (default: 1024)')
+
+	# settings for PCN
+	parser.add_argument('--emb_dims', default=1024, type=int,
+						metavar='K', help='dim. of the feature vector (default: 1024)')
+	parser.add_argument('--detailed_output', default=False, type=bool,
+						help='Coarse + Fine Output')
+
+	# settings for on training
+	parser.add_argument('--seed', type=int, default=1234)
+	parser.add_argument('-j', '--workers', default=4, type=int,
+						metavar='N', help='number of data loading workers (default: 4)')
+	parser.add_argument('-b', '--batch_size', default=32, type=int,
+						metavar='N', help='mini-batch size (default: 32)')
+	parser.add_argument('--pretrained', default='learning3d/pretrained/exp_pcn/models/best_model.t7', type=str,
+						metavar='PATH', help='path to pretrained model file (default: null (no-use))')
+	parser.add_argument('--device', default='cuda:0', type=str,
+						metavar='DEVICE', help='use CUDA if available')
+
+	args = parser.parse_args()
+	return args
+
+def main():
+	args = options()
+	args.dataset_path = os.path.join(os.getcwd(), os.pardir, os.pardir, 'ModelNet40', 'ModelNet40')
+
+	trainset = ClassificationData(ModelNet40Data(train=True))
+	testset = ClassificationData(ModelNet40Data(train=False))
+	train_loader = DataLoader(trainset, batch_size=args.batch_size, shuffle=True, drop_last=True, num_workers=args.workers)
+	test_loader = DataLoader(testset, batch_size=args.batch_size, shuffle=False, drop_last=False, num_workers=args.workers)
+
+	if not torch.cuda.is_available():
+		args.device = 'cpu'
+	args.device = torch.device(args.device)
+
+	# Create PointNet Model.
+	model = PCN(emb_dims=args.emb_dims, detailed_output=args.detailed_output)
+
+	if args.pretrained:
+		assert os.path.isfile(args.pretrained)
+		model.load_state_dict(torch.load(args.pretrained, map_location='cpu'))
+	model.to(args.device)
+
+	test(args, model, test_loader)
+
+if __name__ == '__main__':
+	main()

learning3d/examples/test_pcrnet.py

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+import open3d as o3d
+import argparse
+import os
+import sys
+import logging
+import numpy
+import numpy as np
+import torch
+import torch.utils.data
+import torchvision
+from torch.utils.data import DataLoader
+from tensorboardX import SummaryWriter
+from tqdm import tqdm
+
+# Only if the files are in example folder.
+BASE_DIR = os.path.dirname(os.path.abspath(__file__))
+if BASE_DIR[-8:] == 'examples':
+	sys.path.append(os.path.join(BASE_DIR, os.pardir))
+	os.chdir(os.path.join(BASE_DIR, os.pardir))
+
+from learning3d.models import PointNet, iPCRNet
+from learning3d.losses import ChamferDistanceLoss
+from learning3d.data_utils import RegistrationData, ModelNet40Data
+
+
+def display_open3d(template, source, transformed_source):
+	template_ = o3d.geometry.PointCloud()
+	source_ = o3d.geometry.PointCloud()
+	transformed_source_ = o3d.geometry.PointCloud()
+	template_.points = o3d.utility.Vector3dVector(template)
+	source_.points = o3d.utility.Vector3dVector(source + np.array([0,0,0]))
+	transformed_source_.points = o3d.utility.Vector3dVector(transformed_source)
+	template_.paint_uniform_color([1, 0, 0])
+	source_.paint_uniform_color([0, 1, 0])
+	transformed_source_.paint_uniform_color([0, 0, 1])
+	o3d.visualization.draw_geometries([template_, source_, transformed_source_])
+
+def test_one_epoch(device, model, test_loader):
+	model.eval()
+	test_loss = 0.0
+	pred  = 0.0
+	count = 0
+	for i, data in enumerate(tqdm(test_loader)):
+		template, source, igt = data
+
+		template = template.to(device)
+		source = source.to(device)
+		igt = igt.to(device)
+
+		output = model(template, source)
+		display_open3d(template.detach().cpu().numpy()[0], source.detach().cpu().numpy()[0], output['transformed_source'].detach().cpu().numpy()[0])		
+		loss_val = ChamferDistanceLoss()(template, output['transformed_source'])
+
+		test_loss += loss_val.item()
+		count += 1
+
+	test_loss = float(test_loss)/count
+	return test_loss
+
+def test(args, model, test_loader):
+	test_loss, test_accuracy = test_one_epoch(args.device, model, test_loader)
+
+
+def options():
+	parser = argparse.ArgumentParser(description='Point Cloud Registration')
+	parser.add_argument('--exp_name', type=str, default='exp_ipcrnet', metavar='N',
+						help='Name of the experiment')
+	parser.add_argument('--dataset_path', type=str, default='ModelNet40',
+						metavar='PATH', help='path to the input dataset') # like '/path/to/ModelNet40'
+	parser.add_argument('--eval', type=bool, default=False, help='Train or Evaluate the network.')
+
+	# settings for input data
+	parser.add_argument('--dataset_type', default='modelnet', choices=['modelnet', 'shapenet2'],
+						metavar='DATASET', help='dataset type (default: modelnet)')
+	parser.add_argument('--num_points', default=1024, type=int,
+						metavar='N', help='points in point-cloud (default: 1024)')
+
+	# settings for PointNet
+	parser.add_argument('--emb_dims', default=1024, type=int,
+						metavar='K', help='dim. of the feature vector (default: 1024)')
+	parser.add_argument('--symfn', default='max', choices=['max', 'avg'],
+						help='symmetric function (default: max)')
+
+	# settings for on training
+	parser.add_argument('-j', '--workers', default=4, type=int,
+						metavar='N', help='number of data loading workers (default: 4)')
+	parser.add_argument('-b', '--batch_size', default=20, type=int,
+						metavar='N', help='mini-batch size (default: 32)')
+	parser.add_argument('--pretrained', default='learning3d/pretrained/exp_ipcrnet/models/best_model.t7', type=str,
+						metavar='PATH', help='path to pretrained model file (default: null (no-use))')
+	parser.add_argument('--device', default='cuda:0', type=str,
+						metavar='DEVICE', help='use CUDA if available')
+
+	args = parser.parse_args()
+	return args
+
+def main():
+	args = options()
+
+	testset = RegistrationData('PCRNet', ModelNet40Data(train=False))
+	test_loader = DataLoader(testset, batch_size=args.batch_size, shuffle=False, drop_last=False, num_workers=args.workers)
+
+	if not torch.cuda.is_available():
+		args.device = 'cpu'
+	args.device = torch.device(args.device)
+
+	# Create PointNet Model.
+	ptnet = PointNet(emb_dims=args.emb_dims)
+	model = iPCRNet(feature_model=ptnet)
+	model = model.to(args.device)
+
+	if args.pretrained:
+		assert os.path.isfile(args.pretrained)
+		model.load_state_dict(torch.load(args.pretrained, map_location='cpu'))
+	model.to(args.device)
+
+	test(args, model, test_loader)
+
+if __name__ == '__main__':
+	main()

learning3d/examples/test_pnlk.py

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+import open3d as o3d
+import argparse
+import os
+import sys
+import logging
+import numpy
+import numpy as np
+import torch
+import torch.utils.data
+import torchvision
+from torch.utils.data import DataLoader
+from tensorboardX import SummaryWriter
+from tqdm import tqdm
+
+# Only if the files are in example folder.
+BASE_DIR = os.path.dirname(os.path.abspath(__file__))
+if BASE_DIR[-8:] == 'examples':
+	sys.path.append(os.path.join(BASE_DIR, os.pardir))
+	os.chdir(os.path.join(BASE_DIR, os.pardir))
+
+from learning3d.models import PointNet, PointNetLK
+from learning3d.losses import FrobeniusNormLoss, RMSEFeaturesLoss
+from learning3d.data_utils import RegistrationData, ModelNet40Data
+
+def display_open3d(template, source, transformed_source):
+	template_ = o3d.geometry.PointCloud()
+	source_ = o3d.geometry.PointCloud()
+	transformed_source_ = o3d.geometry.PointCloud()
+	template_.points = o3d.utility.Vector3dVector(template)
+	source_.points = o3d.utility.Vector3dVector(source + np.array([0,0,0]))
+	transformed_source_.points = o3d.utility.Vector3dVector(transformed_source)
+	template_.paint_uniform_color([1, 0, 0])
+	source_.paint_uniform_color([0, 1, 0])
+	transformed_source_.paint_uniform_color([0, 0, 1])
+	o3d.visualization.draw_geometries([template_, source_, transformed_source_])
+
+def test_one_epoch(device, model, test_loader):
+	model.eval()
+	test_loss = 0.0
+	pred  = 0.0
+	count = 0
+	for i, data in enumerate(tqdm(test_loader)):
+		template, source, igt = data
+
+		template = template.to(device)
+		source = source.to(device)
+		igt = igt.to(device)
+
+		output = model(template, source)
+
+		display_open3d(template.detach().cpu().numpy()[0], source.detach().cpu().numpy()[0], output['transformed_source'].detach().cpu().numpy()[0])
+		loss_val = FrobeniusNormLoss()(output['est_T'], igt) + RMSEFeaturesLoss()(output['r'])
+
+		test_loss += loss_val.item()
+		count += 1
+
+	test_loss = float(test_loss)/count
+	return test_loss
+
+def test(args, model, test_loader):
+	test_loss, test_accuracy = test_one_epoch(args.device, model, test_loader)
+	
+
+def options():
+	parser = argparse.ArgumentParser(description='Point Cloud Registration')
+	parser.add_argument('--exp_name', type=str, default='exp_pnlk_v1', metavar='N',
+						help='Name of the experiment')
+	parser.add_argument('--dataset_path', type=str, default='ModelNet40',
+						metavar='PATH', help='path to the input dataset') # like '/path/to/ModelNet40'
+	parser.add_argument('--eval', type=bool, default=False, help='Train or Evaluate the network.')
+
+	# settings for input data
+	parser.add_argument('--dataset_type', default='modelnet', choices=['modelnet', 'shapenet2'],
+						metavar='DATASET', help='dataset type (default: modelnet)')
+	parser.add_argument('--num_points', default=1024, type=int,
+						metavar='N', help='points in point-cloud (default: 1024)')
+
+	# settings for PointNet
+	parser.add_argument('--emb_dims', default=1024, type=int,
+						metavar='K', help='dim. of the feature vector (default: 1024)')
+	parser.add_argument('--symfn', default='max', choices=['max', 'avg'],
+						help='symmetric function (default: max)')
+
+	# settings for on training
+	parser.add_argument('--seed', type=int, default=1234)
+	parser.add_argument('-j', '--workers', default=4, type=int,
+						metavar='N', help='number of data loading workers (default: 4)')
+	parser.add_argument('-b', '--batch_size', default=10, type=int,
+						metavar='N', help='mini-batch size (default: 32)')
+	parser.add_argument('--pretrained', default='learning3d/pretrained/exp_pnlk/models/best_model.t7', type=str,
+						metavar='PATH', help='path to pretrained model file (default: null (no-use))')
+	parser.add_argument('--device', default='cuda:0', type=str,
+						metavar='DEVICE', help='use CUDA if available')
+
+	args = parser.parse_args()
+	return args
+
+def main():
+	args = options()
+
+	testset = RegistrationData('PointNetLK', ModelNet40Data(train=False))
+	test_loader = DataLoader(testset, batch_size=8, shuffle=False, drop_last=False, num_workers=args.workers)
+
+	if not torch.cuda.is_available():
+		args.device = 'cpu'
+	args.device = torch.device(args.device)
+
+	# Create PointNet Model.
+	ptnet = PointNet(emb_dims=args.emb_dims, use_bn=True)
+	model = PointNetLK(feature_model=ptnet)
+	model = model.to(args.device)
+
+	if args.pretrained:
+		assert os.path.isfile(args.pretrained)
+		model.load_state_dict(torch.load(args.pretrained, map_location='cpu'))
+	model.to(args.device)
+
+	test(args, model, test_loader)
+
+if __name__ == '__main__':
+	main()

learning3d/examples/test_pointconv.py

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+import open3d as o3d
+import argparse
+import os
+import sys
+import logging
+import numpy
+import numpy as np
+import torch
+import torch.utils.data
+import torchvision
+from torch.utils.data import DataLoader
+from tensorboardX import SummaryWriter
+from tqdm import tqdm
+
+# Only if the files are in example folder.
+BASE_DIR = os.path.dirname(os.path.abspath(__file__))
+if BASE_DIR[-8:] == 'examples':
+	sys.path.append(os.path.join(BASE_DIR, os.pardir))
+	os.chdir(os.path.join(BASE_DIR, os.pardir))
+	
+from learning3d.models import create_pointconv
+from learning3d.models import Classifier
+from learning3d.data_utils import ClassificationData, ModelNet40Data
+
+def display_open3d(template):
+	template_ = o3d.geometry.PointCloud()
+	template_.points = o3d.utility.Vector3dVector(template)
+	# template_.paint_uniform_color([1, 0, 0])
+	o3d.visualization.draw_geometries([template_])
+
+def test_one_epoch(device, model, test_loader, testset):
+	model.eval()
+	test_loss = 0.0
+	pred  = 0.0
+	count = 0
+	for i, data in enumerate(tqdm(test_loader)):
+		points, target = data
+		target = target[:,0]
+
+		points = points.to(device)
+		target = target.to(device)
+
+		output = model(points)
+		loss_val = torch.nn.functional.nll_loss(
+			torch.nn.functional.log_softmax(output, dim=1), target, size_average=False)
+		print("Ground Truth Label: ", testset.get_shape(target[0].item()))
+		print("Predicted Label:    ", testset.get_shape(torch.argmax(output[0]).item()))
+		display_open3d(points.detach().cpu().numpy()[0])
+
+		test_loss += loss_val.item()
+		count += output.size(0)
+
+		_, pred1 = output.max(dim=1)
+		ag = (pred1 == target)
+		am = ag.sum()
+		pred += am.item()
+
+	test_loss = float(test_loss)/count
+	accuracy = float(pred)/count
+	return test_loss, accuracy
+
+def test(args, model, test_loader, testset):
+	test_loss, test_accuracy = test_one_epoch(args.device, model, test_loader, testset)
+
+def options():
+	parser = argparse.ArgumentParser(description='Point Cloud Registration')
+	parser.add_argument('--dataset_path', type=str, default='ModelNet40',
+						metavar='PATH', help='path to the input dataset') # like '/path/to/ModelNet40'
+	parser.add_argument('--eval', type=bool, default=False, help='Train or Evaluate the network.')
+
+	# settings for input data
+	parser.add_argument('--dataset_type', default='modelnet', choices=['modelnet', 'shapenet2'],
+						metavar='DATASET', help='dataset type (default: modelnet)')
+	parser.add_argument('--num_points', default=1024, type=int,
+						metavar='N', help='points in point-cloud (default: 1024)')
+
+	# settings for PointNet
+	parser.add_argument('--pointnet', default='tune', type=str, choices=['fixed', 'tune'],
+						help='train pointnet (default: tune)')
+	parser.add_argument('-j', '--workers', default=4, type=int,
+						metavar='N', help='number of data loading workers (default: 4)')
+	parser.add_argument('-b', '--batch_size', default=32, type=int,
+						metavar='N', help='mini-batch size (default: 32)')
+	parser.add_argument('--emb_dims', default=1024, type=int,
+						metavar='K', help='dim. of the feature vector (default: 1024)')
+	parser.add_argument('--symfn', default='max', choices=['max', 'avg'],
+						help='symmetric function (default: max)')
+
+	# settings for on training
+	parser.add_argument('--pretrained', default='learning3d/pretrained/exp_classifier/models/best_model.t7', type=str,
+						metavar='PATH', help='path to pretrained model file (default: null (no-use))')
+	parser.add_argument('--device', default='cuda:0', type=str,
+						metavar='DEVICE', help='use CUDA if available')
+
+	args = parser.parse_args()
+	return args
+
+def main():
+	args = options()
+	args.dataset_path = os.path.join(os.getcwd(), os.pardir, os.pardir, 'ModelNet40', 'ModelNet40')
+	
+	testset = ClassificationData(ModelNet40Data(train=False))
+	test_loader = DataLoader(testset, batch_size=args.batch_size, shuffle=False, drop_last=False, num_workers=args.workers)
+
+	if not torch.cuda.is_available():
+		args.device = 'cpu'
+	args.device = torch.device(args.device)
+
+	# To use pretrained model provided by authors.
+	# PointConv = create_pointconv(classifier=True, pretrained='path of pretrained model.')
+	# model = PointConv(emb_dims=args.emb_dims, classifier=True, pretrained='path of pretrained model.')
+
+	# To use your own pretrained model.
+	PointConv = create_pointconv(classifier=False, pretrained=None)
+	ptconv = PointConv(emb_dims=args.emb_dims, classifier=True, pretrained=None)
+	model = Classifier(feature_model=ptconv)	
+
+	if args.pretrained:
+		assert os.path.isfile(args.pretrained)
+		model.load_state_dict(torch.load(args.pretrained, map_location='cpu'))
+	model.to(args.device)
+
+	test(args, model, test_loader, testset)
+
+if __name__ == '__main__':
+	main()