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DavidHanSZ/pointnet-modelnet40

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PointNet for ModelNet40 Classification

Reimplementation of PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation (Qi et al., 2017).

Architecture

Exact architecture from the paper (Appendix C):

—Input Transform (T-Net 3×3): MLP(64,128,1024) → max pool → FC(512,256) → 3×3
—Shared MLP(64,64) → Feature Transform (T-Net 64×64) → MLP(64,128,1024)
—Global max pool → FC(512,256,40) + dropout(0.3)
—Orthogonal regularization (λ=0.001) on both T-Nets

Training Recipe (from paper)

Parameter	Value
Points sampled	1024 (uniform, normalized to unit sphere)
Augmentation	Random up-axis rotation + Gaussian jitter (σ=0.02)
Optimizer	Adam, lr=0.001, β₁=0.9
Batch size	32
LR schedule	÷2 every 20 epochs
Epochs trained	250
Best test accuracy	83.83% (epoch 238)

Usage

python

import torch
# Copy the PointNetClassification class from pointnet_modelnet40.py
model = PointNetClassification(num_classes=40)
model.load_state_dict(torch.load('pytorch_model.bin'))
model.eval()

# Input: (B, 3, 1024) point cloud normalized to unit sphere
# Output: (B, 40) logits

Dataset

Trained on jxie/modelnet40-2048 — 9,840 train / 2,468 test samples across 40 object categories.

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