learning3d 0.0.1__tar.gz

learning3d-0.0.1/LICENSE

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+The MIT License
+
+Copyright (c) 2010-2019 Google, Inc. http://angularjs.org
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
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+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
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+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

learning3d-0.0.1/MANIFEST.in

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+global-include *.cu *.h *.cpp *.egg-info *.so *.o *.egg *.cuh *.txt
+global-exclude *__pycache__* *.pyc

learning3d-0.0.1/PKG-INFO

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+Metadata-Version: 2.1
+Name: learning3d
+Version: 0.0.1
+Summary: Learning3D: A Modern Library for Deep Learning on 3D Point Clouds Data
+Author-email: Vinit Sarode <vinitsarode5@gmail.com>
+Project-URL: Homepage, https://github.com/vinits5/learning3d
+Project-URL: Issues, https://github.com/vinits5/learning3d/issues
+Classifier: Programming Language :: Python :: 3
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: torch==2.0.1
+Requires-Dist: torchvision==0.15.2
+Requires-Dist: h5py==3.8.0
+Requires-Dist: ninja==1.11.1
+Requires-Dist: open3d==0.17.0
+Requires-Dist: tensorboardX==2.6
+Requires-Dist: tqdm==4.65.0
+Requires-Dist: scikit-learn==1.2.2
+Requires-Dist: scipy==1.10.1
+Requires-Dist: numpy==1.24.3
+Requires-Dist: transforms3d==0.4.1
+Requires-Dist: pycuda
+
+<p align="center">
+	<img src="https://github.com/vinits5/learning3d/blob/master/images/logo.png" height="170">
+</p>
+
+# Learning3D: A Modern Library for Deep Learning on 3D Point Clouds Data.
+
+**[Documentation](https://github.com/vinits5/learning3d#documentation) | [Blog](https://medium.com/@vinitsarode5/learning3d-a-modern-library-for-deep-learning-on-3d-point-clouds-data-48adc1fd3e0?sk=0beb59651e5ce980243bcdfbf0859b7a) | [Demo](https://github.com/vinits5/learning3d/blob/master/examples/test_pointnet.py)**
+
+Learning3D is an open-source library that supports the development of deep learning algorithms that deal with 3D data. The Learning3D exposes a set of state of art deep neural networks in python. A modular code has been provided for further development. We welcome contributions from the open-source community.
+
+## Latest News:
+1. \[24 Oct, 2023\]: [MaskNet++](https://github.com/zhouruqin/MaskNet2) is now a part of learning3d library.
+2. \[12 May, 2022\]: [ChamferDistance](https://github.com/fwilliams/fml) loss function is incorporated in learning3d. This is a purely pytorch based loss function.
+3. \[24 Dec. 2020\]: [MaskNet](https://arxiv.org/pdf/2010.09185.pdf) is now ready to enhance the performance of registration algorithms in learning3d for occluded point clouds.
+4. \[24 Dec. 2020\]: Loss based on the predicted and ground truth correspondences is added in learning3d after consideration of [Correspondence Matrices are Underrated](https://arxiv.org/pdf/2010.16085.pdf) paper.
+5. \[24 Dec. 2020\]: [PointConv](https://arxiv.org/abs/1811.07246), latent feature estimation using convolutions on point clouds is now available in learning3d.
+6. \[16 Oct. 2020\]: [DeepGMR](https://wentaoyuan.github.io/deepgmr/), registration using gaussian mixture models is now available in learning3d
+7. \[14 Oct. 2020\]: Now, use your own data in learning3d. (Check out [UserData](https://github.com/vinits5/learning3d#use-your-own-data) functionality!)
+
+## Available Computer Vision Algorithms in Learning3D
+
+| Sr. No.       | Tasks         | Algorithms  |
+|:-------------:|:----------:|:-----|
+| 1 | [Classification](https://github.com/vinits5/learning3d#use-of-classification--segmentation-network) | PointNet, DGCNN, PPFNet, [PointConv](https://github.com/vinits5/learning3d#use-of-pointconv) |
+| 2 | [Segmentation](https://github.com/vinits5/learning3d#use-of-classification--segmentation-network) | PointNet, DGCNN |
+| 3 | [Reconstruction](https://github.com/vinits5/learning3d#use-of-point-completion-network) | Point Completion Network (PCN) |
+| 4 | [Registration](https://github.com/vinits5/learning3d#use-of-registration-networks) | PointNetLK, PCRNet, DCP, PRNet, RPM-Net, DeepGMR |
+| 5 | [Flow Estimation](https://github.com/vinits5/learning3d#use-of-flow-estimation-network) | FlowNet3D |
+| 6 | [Inlier Estimation](https://github.com/vinits5/learning3d#use-of-inlier-estimation-network-masknet) | MaskNet, MaskNet++ | 
+
+## Available Pretrained Models
+1. PointNet
+2. PCN
+3. PointNetLK
+4. PCRNet
+5. DCP
+6. PRNet
+7. FlowNet3D
+8. RPM-Net (clean-trained.pth, noisy-trained.pth, partial-pretrained.pth)
+9. DeepGMR
+10. PointConv (Download from this [link](https://github.com/DylanWusee/pointconv_pytorch/blob/master/checkpoints/checkpoint.pth))
+11. MaskNet
+12. MaskNet++ / MaskNet2
+
+## Available Datasets
+1. ModelNet40
+
+## Available Loss Functions
+1. Classification Loss (Cross Entropy)
+2. Registration Losses (FrobeniusNormLoss, RMSEFeaturesLoss)
+3. Distance Losses (Chamfer Distance, Earth Mover's Distance)
+4. Correspondence Loss (based on this [paper](https://arxiv.org/pdf/2010.16085.pdf))
+
+## Technical Details
+### Supported OS
+1. Ubuntu 16.04
+2. Ubuntu 18.04
+3. Ubuntu 20.04.6
+3. Linux Mint
+
+### Requirements
+1. CUDA 10.0 or higher
+2. Pytorch 1.3 or higher
+3. Python 3.8
+
+## How to use this library?
+**Important Note: Clone this repository in your project. Please don't add your codes in "learning3d" folder.**
+
+1. All networks are defined in the module "models".
+2. All loss functions are defined in the module "losses".
+3. Data loaders are pre-defined in data_utils/dataloaders.py file.
+4. All pretrained models are provided in learning3d/pretrained folder.
+
+## Documentation
+B: Batch Size, N: No. of points and C: Channels.
+####  Use of Point Embedding Networks:
+> from learning3d.models import PointNet, DGCNN, PPFNet\
+> pn = PointNet(emb_dims=1024, input_shape='bnc', use_bn=False)\
+> dgcnn = DGCNN(emb_dims=1024, input_shape='bnc')\
+> ppf = PPFNet(features=['ppf', 'dxyz', 'xyz'], emb_dims=96, radius='0.3', num_neighbours=64)
+
+| Sr. No. | Variable | Data type | Shape | Choices | Use |
+|:---:|:---:|:---:|:---:|:---:|:---:|
+| 1. | emb_dims | Integer | Scalar | 1024, 512 | Size of feature vector for the each point|
+| 2. | input_shape | String | - | 'bnc', 'bcn' | Shape of input point cloud|
+| 3. | output | tensor | BxCxN | - | High dimensional embeddings for each point|
+| 4. | features | List of Strings | - | ['ppf', 'dxyz', 'xyz'] | Use of various features |
+| 5. | radius | Float | Scalar | 0.3 | Radius of cluster for computing local features |
+| 6. | num_neighbours | Integer | Scalar | 64 | Maximum number of points to consider per cluster |
+
+#### Use of Classification / Segmentation Network:
+> from learning3d.models import Classifier, PointNet, Segmentation\
+> classifier = Classifier(feature_model=PointNet(), num_classes=40)\
+> seg = Segmentation(feature_model=PointNet(), num_classes=40)
+
+| Sr. No. | Variable | Data type | Shape | Choices | Use |
+|:---:|:---:|:---:|:---:|:---:|:---:|
+| 1. | feature_model | Object | - | PointNet / DGCNN | Point cloud embedding network |
+| 2. | num_classes | Integer | Scalar | 10, 40 | Number of object categories to be classified |
+| 3. | output | tensor | Classification: Bx40, Segmentation: BxNx40 | 10, 40 | Probabilities of each category or each point |
+
+#### Use of Registration Networks:
+> from learning3d.models import PointNet, PointNetLK, DCP, iPCRNet, PRNet, PPFNet, RPMNet\
+> pnlk = PointNetLK(feature_model=PointNet(), delta=1e-02, xtol=1e-07, p0_zero_mean=True, p1_zero_mean=True, pooling='max')\
+> dcp = DCP(feature_model=PointNet(), pointer_='transformer', head='svd')\
+> pcrnet = iPCRNet(feature_moodel=PointNet(), pooling='max')\
+> rpmnet = RPMNet(feature_model=PPFNet())\
+> deepgmr = DeepGMR(use_rri=True, feature_model=PointNet(), nearest_neighbors=20)
+
+| Sr. No. | Variable | Data type | Choices | Use | Algorithm |
+|:---:|:---:|:---:|:---:|:---:|:---:|
+| 1. | feature_model | Object | PointNet / DGCNN | Point cloud embedding network | PointNetLK | 
+| 2. | delta | Float | Scalar | Parameter to calculate approximate jacobian | PointNetLK |
+| 3. | xtol | Float | Scalar | Check tolerance to stop iterations | PointNetLK |
+| 4. | p0_zero_mean | Boolean | True/False | Subtract mean from template point cloud |  PointNetLK |
+| 5. | p1_zero_mean | Boolean | True/False | Subtract mean from source point cloud | PointNetLK |
+| 6. | pooling | String | 'max' / 'avg' | Type of pooling used to get global feature vectror | PointNetLK |
+| 7. | pointer_ | String | 'transformer' / 'identity' | Choice for Transformer/Attention network | DCP |
+| 8. | head | String | 'svd' / 'mlp' | Choice of module to estimate registration params | DCP |
+| 9. | use_rri | Boolean | True/False | Use nearest neighbors to estimate point cloud features. | DeepGMR |
+| 10. | nearest_neighbores | Integer | 20/any integer | Give number of nearest neighbors used to estimate features | DeepGMR |
+
+#### Use of Inlier Estimation Network (MaskNet):
+> from learning3d.models import MaskNet, PointNet, MaskNet2\
+> masknet = MaskNet(feature_model=PointNet(), is_training=True)
+> masknet2 = MaskNet2(feature_model=PointNet(), is_training=True)
+
+| Sr. No. | Variable | Data type | Choices | Use |
+|:---:|:---:|:---:|:---:|:---:|
+| 1. | feature_model | Object | PointNet / DGCNN | Point cloud embedding network |
+| 2. | is_training | Boolean | True / False | Specify if the network will undergo training or testing |
+
+#### Use of Point Completion Network:
+> from learning3d.models import PCN\
+> pcn = PCN(emb_dims=1024, input_shape='bnc', num_coarse=1024, grid_size=4, detailed_output=True)
+
+| Sr. No. | Variable | Data type | Choices | Use |
+|:---:|:---:|:---:|:---:|:---:|
+| 1. | emb_dims | Integer | 1024, 512 | Size of feature vector for each point | 
+| 2. | input_shape | String | 'bnc' / 'bcn' | Shape of input point cloud |
+| 3. | num_coarse | Integer | 1024 | Shape of output point cloud |
+| 4. | grid_size | Integer | 4, 8, 16 | Size of grid used to produce detailed output | 
+| 5. | detailed_output | Boolean | True / False | Choice for additional module to create detailed output point cloud|
+
+#### Use of PointConv:
+Use the following to create pretrained model provided by authors.
+> from learning3d.models import create_pointconv\
+> PointConv = create_pointconv(classifier=True, pretrained='path of checkpoint')\
+> ptconv = PointConv(emb_dims=1024, input_shape='bnc', input_channel_dim=6, classifier=True)
+
+**OR**\
+Use the following to create your own PointConv model.
+
+> PointConv = create_pointconv(classifier=False, pretrained=None)\
+> ptconv = PointConv(emb_dims=1024, input_shape='bnc', input_channel_dim=3, classifier=True)
+
+PointConv variable is a class. Users can use it to create a sub-class to override *create_classifier* and *create_structure* methods in order to change PointConv's network architecture.
+
+| Sr. No. | Variable | Data type | Choices | Use |
+|:---:|:---:|:---:|:---:|:---:|
+| 1. | emb_dims | Integer | 1024, 512 | Size of feature vector for each point | 
+| 2. | input_shape | String | 'bnc' / 'bcn' | Shape of input point cloud |
+| 3. | input_channel_dim | Integer | 3/6 | Define if point cloud contains only xyz co-ordinates or normals and colors as well |
+| 4. | classifier | Boolean | True / False | Choose if you want to use a classifier with PointConv |
+| 5. | pretrained | Boolean | String | Give path of the pretrained classifier model (only use it for weights given by authors) |
+
+#### Use of Flow Estimation Network:
+> from learning3d.models import FlowNet3D\
+> flownet = FlowNet3D()
+
+#### Use of Data Loaders:
+> from learning3d.data_utils import ModelNet40Data, ClassificationData, RegistrationData, FlowData\
+> modelnet40 = ModelNet40Data(train=True, num_points=1024, download=True)\
+> classification_data = ClassificationData(data_class=ModelNet40Data())\
+> registration_data = RegistrationData(algorithm='PointNetLK', data_class=ModelNet40Data(), partial_source=False, partial_template=False, noise=False)\
+> flow_data = FlowData()
+
+| Sr. No. | Variable | Data type | Choices | Use |
+|:---:|:---:|:---:|:---:|:---:|
+| 1. | train | Boolean | True / False | Split data as train/test set |
+| 2. | num_points | Integer | 1024 | Number of points in each point cloud |
+| 3. | download | Boolean | True / False | If data not available then download it |
+| 4. | data_class | Object | - | Specify which dataset to use |
+| 5. | algorithm | String | 'PointNetLK', 'PCRNet', 'DCP', 'iPCRNet' | Algorithm used for registration |
+| 6. | partial_source | Boolean | True / False | Create partial source point cloud |
+| 7. | partial_template | Boolean | True / False | Create partial template point cloud |
+| 8. | noise | Boolean | True / False | Add noise in source point cloud |
+
+#### Use Your Own Data:
+> from learning3d.data_utils import UserData\
+> dataset = UserData(application, data_dict)
+
+|Sr. No. | Application | Required Key | Respective Value |
+|:---:|:---:|:---:|:---:|
+| 1. | 'classification' | 'pcs' | Point Clouds (BxNx3) |
+|    |                  | 'labels' | Ground Truth Class Labels (BxN) |
+| 2. | 'registration' | 'template' | Template Point Clouds (BxNx3) |
+|    |                | 'source' | Source Point Clouds (BxNx3) |
+|    |                | 'transformation' | Ground Truth Transformation (Bx4x4)|
+| 3. | 'flow_estimation' | 'frame1' | Point Clouds (BxNx3) |
+|    |                   | 'frame2' | Point Clouds (BxNx3) |
+|    |                   | 'flow' | Ground Truth Flow Vector (BxNx3)|
+
+#### Use of Loss Functions:
+> from learning3d.losses import RMSEFeaturesLoss, FrobeniusNormLoss, ClassificationLoss, EMDLoss, ChamferDistanceLoss, CorrespondenceLoss\
+> rmse = RMSEFeaturesLoss()\
+> fn_loss = FrobeniusNormLoss()\
+> classification_loss = ClassificationLoss()\
+> emd = EMDLoss()\
+> cd = ChamferDistanceLoss()\
+> corr = CorrespondenceLoss()
+
+| Sr. No. | Loss Type | Use |
+|:---:|:---:|:---:|
+| 1. | RMSEFeaturesLoss | Used to find root mean square value between two global feature vectors of point clouds |
+| 2. | FrobeniusNormLoss | Used to find frobenius norm between two transfromation matrices |
+| 3. | ClassificationLoss | Used to calculate cross-entropy loss | 
+| 4. | EMDLoss | Earth Mover's distance between two given point clouds |
+| 5. | ChamferDistanceLoss | Chamfer's distance between two given point clouds |
+| 6. | CorrespondenceLoss | Computes cross entropy loss using the predicted correspondence and ground truth correspondence for each source point |
+
+### To run codes from examples:
+1. Copy the file from "examples" folder outside of the directory "learning3d"
+2. Now, run the file. (ex. python test_pointnet.py)
+- Your Directory/Location
+	- learning3d
+	- test_pointnet.py
+
+### References:
+1. [PointNet:](https://arxiv.org/abs/1612.00593) Deep Learning on Point Sets for 3D Classification and Segmentation
+2. [Dynamic Graph CNN](https://arxiv.org/abs/1801.07829) for Learning on Point Clouds
+3. [PPFNet:](https://arxiv.org/pdf/1802.02669.pdf) Global Context Aware Local Features for Robust 3D Point Matching
+4. [PointConv:](https://arxiv.org/abs/1811.07246) Deep Convolutional Networks on 3D Point Clouds
+5. [PointNetLK:](https://arxiv.org/abs/1903.05711) Robust & Efficient Point Cloud Registration using PointNet
+6. [PCRNet:](https://arxiv.org/abs/1908.07906) Point Cloud Registration Network using PointNet Encoding
+7. [Deep Closest Point:](https://arxiv.org/abs/1905.03304) Learning Representations for Point Cloud Registration
+8. [PRNet:](https://arxiv.org/abs/1910.12240) Self-Supervised Learning for Partial-to-Partial Registration
+9. [FlowNet3D:](https://arxiv.org/abs/1806.01411) Learning Scene Flow in 3D Point Clouds
+10. [PCN:](https://arxiv.org/pdf/1808.00671.pdf) Point Completion Network
+11. [RPM-Net:](https://arxiv.org/pdf/2003.13479.pdf) Robust Point Matching using Learned Features
+12. [3D ShapeNets:](https://people.csail.mit.edu/khosla/papers/cvpr2015_wu.pdf) A Deep Representation for Volumetric Shapes
+13. [DeepGMR:](https://arxiv.org/abs/2008.09088) Learning Latent Gaussian Mixture Models for Registration
+14. [CMU:](https://arxiv.org/pdf/2010.16085.pdf) Correspondence Matrices are Underrated
+15. [MaskNet:](https://arxiv.org/pdf/2010.09185.pdf) A Fully-Convolutional Network to Estimate Inlier Points
+16. [MaskNet++:](https://www.sciencedirect.com/science/article/abs/pii/S0097849322000085) Inlier/outlier identification for two point clouds

learning3d-0.0.1/README.md

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+<p align="center">
+	<img src="https://github.com/vinits5/learning3d/blob/master/images/logo.png" height="170">
+</p>
+
+# Learning3D: A Modern Library for Deep Learning on 3D Point Clouds Data.
+
+**[Documentation](https://github.com/vinits5/learning3d#documentation) | [Blog](https://medium.com/@vinitsarode5/learning3d-a-modern-library-for-deep-learning-on-3d-point-clouds-data-48adc1fd3e0?sk=0beb59651e5ce980243bcdfbf0859b7a) | [Demo](https://github.com/vinits5/learning3d/blob/master/examples/test_pointnet.py)**
+
+Learning3D is an open-source library that supports the development of deep learning algorithms that deal with 3D data. The Learning3D exposes a set of state of art deep neural networks in python. A modular code has been provided for further development. We welcome contributions from the open-source community.
+
+## Latest News:
+1. \[24 Oct, 2023\]: [MaskNet++](https://github.com/zhouruqin/MaskNet2) is now a part of learning3d library.
+2. \[12 May, 2022\]: [ChamferDistance](https://github.com/fwilliams/fml) loss function is incorporated in learning3d. This is a purely pytorch based loss function.
+3. \[24 Dec. 2020\]: [MaskNet](https://arxiv.org/pdf/2010.09185.pdf) is now ready to enhance the performance of registration algorithms in learning3d for occluded point clouds.
+4. \[24 Dec. 2020\]: Loss based on the predicted and ground truth correspondences is added in learning3d after consideration of [Correspondence Matrices are Underrated](https://arxiv.org/pdf/2010.16085.pdf) paper.
+5. \[24 Dec. 2020\]: [PointConv](https://arxiv.org/abs/1811.07246), latent feature estimation using convolutions on point clouds is now available in learning3d.
+6. \[16 Oct. 2020\]: [DeepGMR](https://wentaoyuan.github.io/deepgmr/), registration using gaussian mixture models is now available in learning3d
+7. \[14 Oct. 2020\]: Now, use your own data in learning3d. (Check out [UserData](https://github.com/vinits5/learning3d#use-your-own-data) functionality!)
+
+## Available Computer Vision Algorithms in Learning3D
+
+| Sr. No.       | Tasks         | Algorithms  |
+|:-------------:|:----------:|:-----|
+| 1 | [Classification](https://github.com/vinits5/learning3d#use-of-classification--segmentation-network) | PointNet, DGCNN, PPFNet, [PointConv](https://github.com/vinits5/learning3d#use-of-pointconv) |
+| 2 | [Segmentation](https://github.com/vinits5/learning3d#use-of-classification--segmentation-network) | PointNet, DGCNN |
+| 3 | [Reconstruction](https://github.com/vinits5/learning3d#use-of-point-completion-network) | Point Completion Network (PCN) |
+| 4 | [Registration](https://github.com/vinits5/learning3d#use-of-registration-networks) | PointNetLK, PCRNet, DCP, PRNet, RPM-Net, DeepGMR |
+| 5 | [Flow Estimation](https://github.com/vinits5/learning3d#use-of-flow-estimation-network) | FlowNet3D |
+| 6 | [Inlier Estimation](https://github.com/vinits5/learning3d#use-of-inlier-estimation-network-masknet) | MaskNet, MaskNet++ | 
+
+## Available Pretrained Models
+1. PointNet
+2. PCN
+3. PointNetLK
+4. PCRNet
+5. DCP
+6. PRNet
+7. FlowNet3D
+8. RPM-Net (clean-trained.pth, noisy-trained.pth, partial-pretrained.pth)
+9. DeepGMR
+10. PointConv (Download from this [link](https://github.com/DylanWusee/pointconv_pytorch/blob/master/checkpoints/checkpoint.pth))
+11. MaskNet
+12. MaskNet++ / MaskNet2
+
+## Available Datasets
+1. ModelNet40
+
+## Available Loss Functions
+1. Classification Loss (Cross Entropy)
+2. Registration Losses (FrobeniusNormLoss, RMSEFeaturesLoss)
+3. Distance Losses (Chamfer Distance, Earth Mover's Distance)
+4. Correspondence Loss (based on this [paper](https://arxiv.org/pdf/2010.16085.pdf))
+
+## Technical Details
+### Supported OS
+1. Ubuntu 16.04
+2. Ubuntu 18.04
+3. Ubuntu 20.04.6
+3. Linux Mint
+
+### Requirements
+1. CUDA 10.0 or higher
+2. Pytorch 1.3 or higher
+3. Python 3.8
+
+## How to use this library?
+**Important Note: Clone this repository in your project. Please don't add your codes in "learning3d" folder.**
+
+1. All networks are defined in the module "models".
+2. All loss functions are defined in the module "losses".
+3. Data loaders are pre-defined in data_utils/dataloaders.py file.
+4. All pretrained models are provided in learning3d/pretrained folder.
+
+## Documentation
+B: Batch Size, N: No. of points and C: Channels.
+####  Use of Point Embedding Networks:
+> from learning3d.models import PointNet, DGCNN, PPFNet\
+> pn = PointNet(emb_dims=1024, input_shape='bnc', use_bn=False)\
+> dgcnn = DGCNN(emb_dims=1024, input_shape='bnc')\
+> ppf = PPFNet(features=['ppf', 'dxyz', 'xyz'], emb_dims=96, radius='0.3', num_neighbours=64)
+
+| Sr. No. | Variable | Data type | Shape | Choices | Use |
+|:---:|:---:|:---:|:---:|:---:|:---:|
+| 1. | emb_dims | Integer | Scalar | 1024, 512 | Size of feature vector for the each point|
+| 2. | input_shape | String | - | 'bnc', 'bcn' | Shape of input point cloud|
+| 3. | output | tensor | BxCxN | - | High dimensional embeddings for each point|
+| 4. | features | List of Strings | - | ['ppf', 'dxyz', 'xyz'] | Use of various features |
+| 5. | radius | Float | Scalar | 0.3 | Radius of cluster for computing local features |
+| 6. | num_neighbours | Integer | Scalar | 64 | Maximum number of points to consider per cluster |
+
+#### Use of Classification / Segmentation Network:
+> from learning3d.models import Classifier, PointNet, Segmentation\
+> classifier = Classifier(feature_model=PointNet(), num_classes=40)\
+> seg = Segmentation(feature_model=PointNet(), num_classes=40)
+
+| Sr. No. | Variable | Data type | Shape | Choices | Use |
+|:---:|:---:|:---:|:---:|:---:|:---:|
+| 1. | feature_model | Object | - | PointNet / DGCNN | Point cloud embedding network |
+| 2. | num_classes | Integer | Scalar | 10, 40 | Number of object categories to be classified |
+| 3. | output | tensor | Classification: Bx40, Segmentation: BxNx40 | 10, 40 | Probabilities of each category or each point |
+
+#### Use of Registration Networks:
+> from learning3d.models import PointNet, PointNetLK, DCP, iPCRNet, PRNet, PPFNet, RPMNet\
+> pnlk = PointNetLK(feature_model=PointNet(), delta=1e-02, xtol=1e-07, p0_zero_mean=True, p1_zero_mean=True, pooling='max')\
+> dcp = DCP(feature_model=PointNet(), pointer_='transformer', head='svd')\
+> pcrnet = iPCRNet(feature_moodel=PointNet(), pooling='max')\
+> rpmnet = RPMNet(feature_model=PPFNet())\
+> deepgmr = DeepGMR(use_rri=True, feature_model=PointNet(), nearest_neighbors=20)
+
+| Sr. No. | Variable | Data type | Choices | Use | Algorithm |
+|:---:|:---:|:---:|:---:|:---:|:---:|
+| 1. | feature_model | Object | PointNet / DGCNN | Point cloud embedding network | PointNetLK | 
+| 2. | delta | Float | Scalar | Parameter to calculate approximate jacobian | PointNetLK |
+| 3. | xtol | Float | Scalar | Check tolerance to stop iterations | PointNetLK |
+| 4. | p0_zero_mean | Boolean | True/False | Subtract mean from template point cloud |  PointNetLK |
+| 5. | p1_zero_mean | Boolean | True/False | Subtract mean from source point cloud | PointNetLK |
+| 6. | pooling | String | 'max' / 'avg' | Type of pooling used to get global feature vectror | PointNetLK |
+| 7. | pointer_ | String | 'transformer' / 'identity' | Choice for Transformer/Attention network | DCP |
+| 8. | head | String | 'svd' / 'mlp' | Choice of module to estimate registration params | DCP |
+| 9. | use_rri | Boolean | True/False | Use nearest neighbors to estimate point cloud features. | DeepGMR |
+| 10. | nearest_neighbores | Integer | 20/any integer | Give number of nearest neighbors used to estimate features | DeepGMR |
+
+#### Use of Inlier Estimation Network (MaskNet):
+> from learning3d.models import MaskNet, PointNet, MaskNet2\
+> masknet = MaskNet(feature_model=PointNet(), is_training=True)
+> masknet2 = MaskNet2(feature_model=PointNet(), is_training=True)
+
+| Sr. No. | Variable | Data type | Choices | Use |
+|:---:|:---:|:---:|:---:|:---:|
+| 1. | feature_model | Object | PointNet / DGCNN | Point cloud embedding network |
+| 2. | is_training | Boolean | True / False | Specify if the network will undergo training or testing |
+
+#### Use of Point Completion Network:
+> from learning3d.models import PCN\
+> pcn = PCN(emb_dims=1024, input_shape='bnc', num_coarse=1024, grid_size=4, detailed_output=True)
+
+| Sr. No. | Variable | Data type | Choices | Use |
+|:---:|:---:|:---:|:---:|:---:|
+| 1. | emb_dims | Integer | 1024, 512 | Size of feature vector for each point | 
+| 2. | input_shape | String | 'bnc' / 'bcn' | Shape of input point cloud |
+| 3. | num_coarse | Integer | 1024 | Shape of output point cloud |
+| 4. | grid_size | Integer | 4, 8, 16 | Size of grid used to produce detailed output | 
+| 5. | detailed_output | Boolean | True / False | Choice for additional module to create detailed output point cloud|
+
+#### Use of PointConv:
+Use the following to create pretrained model provided by authors.
+> from learning3d.models import create_pointconv\
+> PointConv = create_pointconv(classifier=True, pretrained='path of checkpoint')\
+> ptconv = PointConv(emb_dims=1024, input_shape='bnc', input_channel_dim=6, classifier=True)
+
+**OR**\
+Use the following to create your own PointConv model.
+
+> PointConv = create_pointconv(classifier=False, pretrained=None)\
+> ptconv = PointConv(emb_dims=1024, input_shape='bnc', input_channel_dim=3, classifier=True)
+
+PointConv variable is a class. Users can use it to create a sub-class to override *create_classifier* and *create_structure* methods in order to change PointConv's network architecture.
+
+| Sr. No. | Variable | Data type | Choices | Use |
+|:---:|:---:|:---:|:---:|:---:|
+| 1. | emb_dims | Integer | 1024, 512 | Size of feature vector for each point | 
+| 2. | input_shape | String | 'bnc' / 'bcn' | Shape of input point cloud |
+| 3. | input_channel_dim | Integer | 3/6 | Define if point cloud contains only xyz co-ordinates or normals and colors as well |
+| 4. | classifier | Boolean | True / False | Choose if you want to use a classifier with PointConv |
+| 5. | pretrained | Boolean | String | Give path of the pretrained classifier model (only use it for weights given by authors) |
+
+#### Use of Flow Estimation Network:
+> from learning3d.models import FlowNet3D\
+> flownet = FlowNet3D()
+
+#### Use of Data Loaders:
+> from learning3d.data_utils import ModelNet40Data, ClassificationData, RegistrationData, FlowData\
+> modelnet40 = ModelNet40Data(train=True, num_points=1024, download=True)\
+> classification_data = ClassificationData(data_class=ModelNet40Data())\
+> registration_data = RegistrationData(algorithm='PointNetLK', data_class=ModelNet40Data(), partial_source=False, partial_template=False, noise=False)\
+> flow_data = FlowData()
+
+| Sr. No. | Variable | Data type | Choices | Use |
+|:---:|:---:|:---:|:---:|:---:|
+| 1. | train | Boolean | True / False | Split data as train/test set |
+| 2. | num_points | Integer | 1024 | Number of points in each point cloud |
+| 3. | download | Boolean | True / False | If data not available then download it |
+| 4. | data_class | Object | - | Specify which dataset to use |
+| 5. | algorithm | String | 'PointNetLK', 'PCRNet', 'DCP', 'iPCRNet' | Algorithm used for registration |
+| 6. | partial_source | Boolean | True / False | Create partial source point cloud |
+| 7. | partial_template | Boolean | True / False | Create partial template point cloud |
+| 8. | noise | Boolean | True / False | Add noise in source point cloud |
+
+#### Use Your Own Data:
+> from learning3d.data_utils import UserData\
+> dataset = UserData(application, data_dict)
+
+|Sr. No. | Application | Required Key | Respective Value |
+|:---:|:---:|:---:|:---:|
+| 1. | 'classification' | 'pcs' | Point Clouds (BxNx3) |
+|    |                  | 'labels' | Ground Truth Class Labels (BxN) |
+| 2. | 'registration' | 'template' | Template Point Clouds (BxNx3) |
+|    |                | 'source' | Source Point Clouds (BxNx3) |
+|    |                | 'transformation' | Ground Truth Transformation (Bx4x4)|
+| 3. | 'flow_estimation' | 'frame1' | Point Clouds (BxNx3) |
+|    |                   | 'frame2' | Point Clouds (BxNx3) |
+|    |                   | 'flow' | Ground Truth Flow Vector (BxNx3)|
+
+#### Use of Loss Functions:
+> from learning3d.losses import RMSEFeaturesLoss, FrobeniusNormLoss, ClassificationLoss, EMDLoss, ChamferDistanceLoss, CorrespondenceLoss\
+> rmse = RMSEFeaturesLoss()\
+> fn_loss = FrobeniusNormLoss()\
+> classification_loss = ClassificationLoss()\
+> emd = EMDLoss()\
+> cd = ChamferDistanceLoss()\
+> corr = CorrespondenceLoss()
+
+| Sr. No. | Loss Type | Use |
+|:---:|:---:|:---:|
+| 1. | RMSEFeaturesLoss | Used to find root mean square value between two global feature vectors of point clouds |
+| 2. | FrobeniusNormLoss | Used to find frobenius norm between two transfromation matrices |
+| 3. | ClassificationLoss | Used to calculate cross-entropy loss | 
+| 4. | EMDLoss | Earth Mover's distance between two given point clouds |
+| 5. | ChamferDistanceLoss | Chamfer's distance between two given point clouds |
+| 6. | CorrespondenceLoss | Computes cross entropy loss using the predicted correspondence and ground truth correspondence for each source point |
+
+### To run codes from examples:
+1. Copy the file from "examples" folder outside of the directory "learning3d"
+2. Now, run the file. (ex. python test_pointnet.py)
+- Your Directory/Location
+	- learning3d
+	- test_pointnet.py
+
+### References:
+1. [PointNet:](https://arxiv.org/abs/1612.00593) Deep Learning on Point Sets for 3D Classification and Segmentation
+2. [Dynamic Graph CNN](https://arxiv.org/abs/1801.07829) for Learning on Point Clouds
+3. [PPFNet:](https://arxiv.org/pdf/1802.02669.pdf) Global Context Aware Local Features for Robust 3D Point Matching
+4. [PointConv:](https://arxiv.org/abs/1811.07246) Deep Convolutional Networks on 3D Point Clouds
+5. [PointNetLK:](https://arxiv.org/abs/1903.05711) Robust & Efficient Point Cloud Registration using PointNet
+6. [PCRNet:](https://arxiv.org/abs/1908.07906) Point Cloud Registration Network using PointNet Encoding
+7. [Deep Closest Point:](https://arxiv.org/abs/1905.03304) Learning Representations for Point Cloud Registration
+8. [PRNet:](https://arxiv.org/abs/1910.12240) Self-Supervised Learning for Partial-to-Partial Registration
+9. [FlowNet3D:](https://arxiv.org/abs/1806.01411) Learning Scene Flow in 3D Point Clouds
+10. [PCN:](https://arxiv.org/pdf/1808.00671.pdf) Point Completion Network
+11. [RPM-Net:](https://arxiv.org/pdf/2003.13479.pdf) Robust Point Matching using Learned Features
+12. [3D ShapeNets:](https://people.csail.mit.edu/khosla/papers/cvpr2015_wu.pdf) A Deep Representation for Volumetric Shapes
+13. [DeepGMR:](https://arxiv.org/abs/2008.09088) Learning Latent Gaussian Mixture Models for Registration
+14. [CMU:](https://arxiv.org/pdf/2010.16085.pdf) Correspondence Matrices are Underrated
+15. [MaskNet:](https://arxiv.org/pdf/2010.09185.pdf) A Fully-Convolutional Network to Estimate Inlier Points
+16. [MaskNet++:](https://www.sciencedirect.com/science/article/abs/pii/S0097849322000085) Inlier/outlier identification for two point clouds

learning3d-0.0.1/data/modelnet40_ply_hdf5_2048/shape_names.txt

@@ -0,0 +1,40 @@
+airplane
+bathtub
+bed
+bench
+bookshelf
+bottle
+bowl
+car
+chair
+cone
+cup
+curtain
+desk
+door
+dresser
+flower_pot
+glass_box
+guitar
+keyboard
+lamp
+laptop
+mantel
+monitor
+night_stand
+person
+piano
+plant
+radio
+range_hood
+sink
+sofa
+stairs
+stool
+table
+tent
+toilet
+tv_stand
+vase
+wardrobe
+xbox

learning3d-0.0.1/data/modelnet40_ply_hdf5_2048/test_files.txt

@@ -0,0 +1,2 @@
+data/modelnet40_ply_hdf5_2048/ply_data_test0.h5
+data/modelnet40_ply_hdf5_2048/ply_data_test1.h5

learning3d-0.0.1/data/modelnet40_ply_hdf5_2048/train_files.txt

@@ -0,0 +1,5 @@
+data/modelnet40_ply_hdf5_2048/ply_data_train0.h5
+data/modelnet40_ply_hdf5_2048/ply_data_train1.h5
+data/modelnet40_ply_hdf5_2048/ply_data_train2.h5
+data/modelnet40_ply_hdf5_2048/ply_data_train3.h5
+data/modelnet40_ply_hdf5_2048/ply_data_train4.h5

learning3d-0.0.1/pretrained/exp_prnet/args.txt

@@ -0,0 +1,35 @@
+{
+  "exp_name": "exp_multi_gpu_v1",
+  "model": "prnet",
+  "emb_nn": "dgcnn",
+  "attention": "transformer",
+  "head": "svd",
+  "n_emb_dims": 512,
+  "n_blocks": 1,
+  "n_heads": 4,
+  "n_iters": 3,
+  "discount_factor": 0.9,
+  "n_ff_dims": 1024,
+  "n_keypoints": 512,
+  "temp_factor": 100,
+  "cat_sampler": "softmax",
+  "dropout": 0.0,
+  "batch_size": 16,
+  "test_batch_size": 8,
+  "epochs": 100,
+  "use_sgd": false,
+  "lr": 0.001,
+  "momentum": 0.9,
+  "no_cuda": false,
+  "seed": 1234,
+  "eval": false,
+  "cycle_consistency_loss": 0.1,
+  "feature_alignment_loss": 0.1,
+  "gaussian_noise": false,
+  "unseen": false,
+  "n_points": 1024,
+  "n_subsampled_points": 768,
+  "dataset": "modelnet40",
+  "rot_factor": 4,
+  "model_path": ""
+}

learning3d-0.0.1/pyproject.toml

@@ -0,0 +1,29 @@
+[build-system]
+requires = ["setuptools"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "learning3d"
+version = "0.0.1"
+authors = [
+    { name="Vinit Sarode", email="vinitsarode5@gmail.com"},
+]
+description = "Learning3D: A Modern Library for Deep Learning on 3D Point Clouds Data"
+readme = "README.md"
+requires-python = ">=3.8"
+classifiers = [
+    "Programming Language :: Python :: 3",
+    "License :: OSI Approved :: MIT License",
+    "Operating System :: OS Independent",
+]
+dynamic = ["dependencies"]
+
+[tool.setuptools.packages.find]
+where = ["src"]
+
+[tool.setuptools.dynamic]
+dependencies = {file = ["requirements.txt"]}
+
+[project.urls]
+Homepage = "https://github.com/vinits5/learning3d"
+Issues = "https://github.com/vinits5/learning3d/issues"