learning3d 0.0.1__py3-none-any.whl

learning3d/examples/test_pointnet.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
+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)
+
+	# Create PointNet Model.
+	ptnet = PointNet(emb_dims=args.emb_dims, use_bn=True)
+	model = Classifier(feature_model=ptnet)
+
+	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()

learning3d/examples/test_prnet.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 PRNet
+from learning3d.data_utils import RegistrationData, ModelNet40Data
+
+def get_transformations(igt):
+	R_ba = igt[:, 0:3, 0:3]                             # Ps = R_ba * Pt
+	translation_ba = igt[:, 0:3, 3].unsqueeze(2)        # Ps = Pt + t_ba
+	R_ab = R_ba.permute(0, 2, 1)                        # Pt = R_ab * Ps
+	translation_ab = -torch.bmm(R_ab, translation_ba)   # Pt = Ps + t_ab
+	return R_ab, translation_ab, R_ba, translation_ba
+
+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
+
+		transformations = get_transformations(igt)
+		transformations = [t.to(device) for t in transformations]
+		R_ab, translation_ab, R_ba, translation_ba = transformations
+
+		template = template.to(device)
+		source = source.to(device)
+		igt = igt.to(device)
+
+		output = model(template, source, R_ab, translation_ab.squeeze(2))
+		display_open3d(template.detach().cpu().numpy()[0], source.detach().cpu().numpy()[0], output['transformed_source'].detach().cpu().numpy()[0])
+
+		test_loss += output['loss'].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 Cloud Registration')
+	parser.add_argument('--exp_name', type=str, default='exp_prnet', 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)')
+
+	# settings for PointNet
+	parser.add_argument('--emb_dims', default=512, type=int,
+						metavar='K', help='dim. of the feature vector (default: 1024)')
+	parser.add_argument('--num_iterations', default=3, type=int,
+						help='Number of Iterations')
+
+	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=1, type=int,
+						metavar='N', help='mini-batch size (default: 32)')
+	parser.add_argument('--pretrained', default='learning3d/pretrained/exp_prnet/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()
+	torch.backends.cudnn.deterministic = True
+	
+	trainset = RegistrationData('PRNet', ModelNet40Data(train=True), partial_source=True, partial_template=True)
+	testset = RegistrationData('PRNet', ModelNet40Data(train=False), partial_source=True, partial_template=True)
+	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 = PRNet(emb_dims=args.emb_dims, num_iters=args.num_iterations)
+	model = model.to(args.device)
+
+	if args.pretrained:
+		assert os.path.isfile(args.pretrained)
+		model.load_state_dict(torch.load(args.pretrained), strict=False)
+	model.to(args.device)
+
+	test(args, model, test_loader)
+
+if __name__ == '__main__':
+	main()

learning3d/examples/test_rpmnet.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 RPMNet, PPFNet
+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,:,:3], source.detach().cpu().numpy()[0,:,:3], output['transformed_source'].detach().cpu().numpy()[0])
+		loss_val = FrobeniusNormLoss()(output['est_T'], igt)
+
+		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_rpmnet', 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_rpmnet/models/partial-trained.pth', 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('RPMNet', ModelNet40Data(train=False, num_points=args.num_points, use_normals=True), partial_source=True, partial_template=False)
+	test_loader = DataLoader(testset, batch_size=1, 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 RPMNet Model.
+	model = RPMNet(feature_model=PPFNet())
+	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')['state_dict'])
+	model.to(args.device)
+
+	test(args, model, test_loader)
+
+if __name__ == '__main__':
+	main()

learning3d/examples/train_PointNetLK.py

@@ -0,0 +1,240 @@
+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
+from learning3d.models import PointNetLK
+from learning3d.losses import FrobeniusNormLoss, RMSEFeaturesLoss
+from learning3d.data_utils import RegistrationData, ModelNet40Data
+
+def _init_(args):
+	if not os.path.exists('checkpoints'):
+		os.makedirs('checkpoints')
+	if not os.path.exists('checkpoints/' + args.exp_name):
+		os.makedirs('checkpoints/' + args.exp_name)
+	if not os.path.exists('checkpoints/' + args.exp_name + '/' + 'models'):
+		os.makedirs('checkpoints/' + args.exp_name + '/' + 'models')
+	os.system('cp main.py checkpoints' + '/' + args.exp_name + '/' + 'main.py.backup')
+	os.system('cp model.py checkpoints' + '/' + args.exp_name + '/' + 'model.py.backup')
+
+
+class IOStream:
+	def __init__(self, path):
+		self.f = open(path, 'a')
+
+	def cprint(self, text):
+		print(text)
+		self.f.write(text + '\n')
+		self.f.flush()
+
+	def close(self):
+		self.f.close()
+
+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)
+		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, textio):
+	test_loss, test_accuracy = test_one_epoch(args.device, model, test_loader)
+	textio.cprint('Validation Loss: %f & Validation Accuracy: %f'%(test_loss, test_accuracy))
+
+def train_one_epoch(device, model, train_loader, optimizer):
+	model.train()
+	train_loss = 0.0
+	pred  = 0.0
+	count = 0
+	for i, data in enumerate(tqdm(train_loader)):
+		template, source, igt = data
+
+		template = template.to(device)
+		source = source.to(device)
+		igt = igt.to(device)
+
+		output = model(template, source)
+		loss_val = FrobeniusNormLoss()(output['est_T'], igt) + RMSEFeaturesLoss()(output['r'])
+		# print(loss_val.item())
+
+		# forward + backward + optimize
+		optimizer.zero_grad()
+		loss_val.backward()
+		optimizer.step()
+
+		train_loss += loss_val.item()
+		count += 1
+
+	train_loss = float(train_loss)/count
+	return train_loss
+
+def train(args, model, train_loader, test_loader, boardio, textio, checkpoint):
+	learnable_params = filter(lambda p: p.requires_grad, model.parameters())
+	if args.optimizer == 'Adam':
+		optimizer = torch.optim.Adam(learnable_params)
+	else:
+		optimizer = torch.optim.SGD(learnable_params, lr=0.1)
+
+	if checkpoint is not None:
+		min_loss = checkpoint['min_loss']
+		optimizer.load_state_dict(checkpoint['optimizer'])
+
+	best_test_loss = np.inf
+
+	for epoch in range(args.start_epoch, args.epochs):
+		train_loss = train_one_epoch(args.device, model, train_loader, optimizer)
+		test_loss = test_one_epoch(args.device, model, test_loader)
+
+		if test_loss<best_test_loss:
+			best_test_loss = test_loss
+			snap = {'epoch': epoch + 1,
+					'model': model.state_dict(),
+					'min_loss': best_test_loss,
+					'optimizer' : optimizer.state_dict(),}
+			torch.save(snap, 'checkpoints/%s/models/best_model_snap.t7' % (args.exp_name))
+			torch.save(model.state_dict(), 'checkpoints/%s/models/best_model.t7' % (args.exp_name))
+			torch.save(model.feature_model.state_dict(), 'checkpoints/%s/models/best_ptnet_model.t7' % (args.exp_name))
+
+		torch.save(snap, 'checkpoints/%s/models/model_snap.t7' % (args.exp_name))
+		torch.save(model.state_dict(), 'checkpoints/%s/models/model.t7' % (args.exp_name))
+		torch.save(model.feature_model.state_dict(), 'checkpoints/%s/models/ptnet_model.t7' % (args.exp_name))
+		
+		boardio.add_scalar('Train Loss', train_loss, epoch+1)
+		boardio.add_scalar('Test Loss', test_loss, epoch+1)
+		boardio.add_scalar('Best Test Loss', best_test_loss, epoch+1)
+
+		textio.cprint('EPOCH:: %d, Traininig Loss: %f, Testing Loss: %f, Best Loss: %f'%(epoch+1, train_loss, test_loss, best_test_loss))
+
+def options():
+	parser = argparse.ArgumentParser(description='Point Cloud Registration')
+	parser.add_argument('--exp_name', type=str, default='exp_pnlk', 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('--fine_tune_pointnet', default='tune', type=str, choices=['fixed', 'tune'],
+						help='train pointnet (default: tune)')
+	parser.add_argument('--transfer_ptnet_weights', default='./checkpoints/exp_classifier/models/best_ptnet_model.t7', type=str,
+						metavar='PATH', help='path to pointnet features file')
+	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('--epochs', default=200, type=int,
+						metavar='N', help='number of total epochs to run')
+	parser.add_argument('--start_epoch', default=0, type=int,
+						metavar='N', help='manual epoch number (useful on restarts)')
+	parser.add_argument('--optimizer', default='Adam', choices=['Adam', 'SGD'],
+						metavar='METHOD', help='name of an optimizer (default: Adam)')
+	parser.add_argument('--resume', default='', type=str,
+						metavar='PATH', help='path to latest checkpoint (default: null (no-use))')
+	parser.add_argument('--pretrained', default='', 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()
+
+	torch.backends.cudnn.deterministic = True
+	torch.manual_seed(args.seed)
+	torch.cuda.manual_seed_all(args.seed)
+	np.random.seed(args.seed)
+
+	boardio = SummaryWriter(log_dir='checkpoints/' + args.exp_name)
+	_init_(args)
+
+	textio = IOStream('checkpoints/' + args.exp_name + '/run.log')
+	textio.cprint(str(args))
+
+	
+	trainset = RegistrationData('PointNetLK', ModelNet40Data(train=True))
+	testset = RegistrationData('PointNetLK', 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=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)
+	
+	if args.transfer_ptnet_weights and os.path.isfile(args.transfer_ptnet_weights):
+		ptnet.load_state_dict(torch.load(args.transfer_ptnet_weights, map_location='cpu'))
+
+	if args.fine_tune_pointnet == 'tune':
+		pass
+	elif args.fine_tune_pointnet == 'fixed':
+		for param in ptnet.parameters():
+			param.requires_grad_(False)
+
+	model = PointNetLK(feature_model=ptnet)
+	model = model.to(args.device)
+
+	checkpoint = None
+	if args.resume:
+		assert os.path.isfile(args.resume)
+		checkpoint = torch.load(args.resume)
+		args.start_epoch = checkpoint['epoch']
+		model.load_state_dict(checkpoint['model'])
+
+	if args.pretrained:
+		assert os.path.isfile(args.pretrained)
+		model.load_state_dict(torch.load(args.pretrained, map_location='cpu'))
+	model.to(args.device)
+
+	if args.eval:
+		test(args, model, test_loader, textio)
+	else:
+		train(args, model, train_loader, test_loader, boardio, textio, checkpoint)
+
+if __name__ == '__main__':
+	main()