torch-pointcloud/pointnet2.s3dis-area2.openpoints

pip install torch-pointcloud

import torch
import torch_pointcloud as tp
from torch_pointcloud.utils.data import collate

model, info = tp.create_model(
    "pointnet2.s3dis-area2.openpoints",
    task="segmentation",
    pretrained=True,
    return_info=True,
)
model = model.eval()

# synthetic sample with the keys a dataset provides
num_points = 8192
sample = {
    "pos": torch.randn(num_points, 3),
    "color": torch.rand(num_points, 3) * 255,
}
data = info["transform"](sample)
data = collate([data])

with torch.no_grad():
    logits = model(data.get("x"), data["pos"], data["batch"])

with torch.no_grad():
    features = model.forward_features(data.get("x"), data["pos"], data["batch"])

model.reset_classifier(num_classes=0)
with torch.no_grad():
    features = model(data.get("x"), data["pos"], data["batch"])  # (N, 128)

@inproceedings{qi2017pointnet2,
  title   = {PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space},
  author  = {Charles R. Qi and Li Yi and Hao Su and Leonidas J. Guibas},
  booktitle = {NeurIPS},
  year    = {2017}
}

@inproceedings{armeni2016s3dis,
  title     = {{3D} Semantic Parsing of Large-Scale Indoor Spaces},
  author    = {Armeni, Iro and Sener, Ozan and Zamir, Amir R. and Jiang, Helen and Brilakis, Ioannis and Fischer, Martin and Savarese, Silvio},
  booktitle = {CVPR},
  year      = {2016}
}

@software{dujardin2026pytorchpointcloud,
  author  = {Arthur Dujardin},
  title   = {PyTorch PointCloud},
  year    = {2026},
  doi     = {10.5281/zenodo.22159632},
  url     = {https://github.com/arthurdjn/pytorch-pointcloud},
}