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Yixing Lao edited this page Nov 28, 2018
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r = infinity, k = 10
knn match time: 44.59255909919739
Confusion matrix:
0 1 2 3 4 5 6 7 8
0 0 14477 74 1838 996 9113 70 52799 152
1 0 13152560 7151 769 33660 456277 6905 1746 4005
2 0 21121 3057 773 5048 970 1630 116 241
3 0 2980 299 216526 30403 24112 984 930 83
4 0 7600 10832 199479 898949 86461 106719 392 15620
5 0 411419 890 22573 2729 8272524 22027 12763 11016
6 0 136155 1314 15429 157891 2738526 335954 105994 8474
7 0 13729 0 370 279 236 242 71558 68
8 0 17830 0 0 835 29199 1435 23360 184693
IoU per class:
[0.9214407800190936,
0.05720220051644774,
0.41985999883655545,
0.5773978625432511,
0.6841477169256786,
0.09230319486965746,
0.30872842270572043,
0.6221573204787458]
mIoU (ignoring label 0):
0.46040468711189375
Overall accuracy
0.8293030194735018
r = infinity, k = 100
Confusion matrix:
0 1 2 3 4 5 6 7 8
0 0 14882 74 1815 984 9073 94 52478 119
1 0 13166522 7464 856 36445 439396 6710 1490 4190
2 0 20971 2983 822 5186 985 1670 116 223
3 0 2866 31 215306 31065 25354 970 611 114
4 0 6758 9212 202284 916373 82060 96743 75 12547
5 0 393901 644 21655 1423 8296483 22662 8628 10545
6 0 84200 1235 15695 160148 2774004 345031 110813 8611
7 0 14662 23 363 337 179 276 70578 64
8 0 17951 0 0 745 21105 390 16467 200694
IoU per class:
[0.9269338152127984,
0.05784931639678076,
0.4156550680319387,
0.5868915160167055,
0.6857150626364573,
0.09507191475267816,
0.3141239618661041,
0.6834555893831348]
mIoU (ignoring label 0):
0.4707120305370748
Overall accuracy
0.8321042687427123
r = 100, k = 100
knn match time: 57.63151741027832
Confusion matrix:
0 1 2 3 4 5 6 7 8
0 0 14882 74 1815 984 9075 92 52478 119
1 0 13166203 7464 854 36434 439739 6706 1498 4175
2 0 20958 3000 822 5181 985 1669 116 225
3 0 2865 29 215332 31045 25357 967 609 113
4 0 6760 9219 202259 916578 82093 96413 72 12658
5 0 394261 645 21689 1409 8295959 22686 8733 10559
6 0 83435 1240 15693 160055 2775520 344372 110791 8631
7 0 14666 23 363 337 180 274 70575 64
8 0 17957 0 0 743 21076 351 16264 200961
IoU per class:
[0.9269379170267478,
0.05816658911121452,
0.41570124923503415,
0.5870773274850505,
0.6855659636963922,
0.09489961290265689,
0.31427426357624744,
0.6840596779189657]
mIoU (ignoring label 0):
0.4708353251190387
Overall accuracy
0.8320687822134346
r = 0.1, k = 100
knn match time: 49.399659633636475
Confusion matrix:
0 1 2 3 4 5 6 7 8
0 0 14861 73 1814 985 9095 94 52478 119
1 0 13129169 7304 798 35057 478075 6929 1624 4117
2 0 20960 3078 768 5170 992 1615 125 248
3 0 2898 72 215055 30898 25309 977 987 121
4 0 7287 9830 200592 909468 83278 102616 82 12899
5 0 391447 812 22236 2311 8291716 22830 13299 11290
6 0 100604 1247 15249 159068 2753117 352754 109412 8286
7 0 12925 13 369 300 225 261 72322 67
8 0 17822 0 0 794 21755 777 17983 198221
IoU per class:
[0.9234827477158357,
0.058927135582187845,
0.41650769180115776,
0.5831231366011606,
0.684208823856568,
0.09702393624190055,
0.3144516813482091,
0.6733507711121679]
mIoU (ignoring label 0):
0.46888449053239845
Overall accuracy
0.8305920766107568
r = 0.1, k = 20
knn match time: 59.716012954711914
Confusion matrix:
0 1 2 3 4 5 6 7 8
0 0 14509 75 1825 995 9092 88 52785 150
1 0 13139264 7186 793 34435 468846 6857 1678 4014
2 0 20948 3051 784 5177 984 1642 123 247
3 0 2963 114 215540 30742 24887 993 965 113
4 0 7438 10099 200040 904850 85840 103490 179 14116
5 0 401101 831 22492 2378 8282403 22505 12933 11298
6 0 110376 1297 15284 156764 2753573 345390 108534 8519
7 0 13072 1 377 304 190 221 72250 67
8 0 18108 0 0 789 23866 1332 20171 193086
IoU per class:
[0.9228904327917264,
0.05813200213398369,
0.41764276178241266,
0.5812836742704323,
0.6836978842965737,
0.09497145411995292,
0.3126825784952286,
0.6529219615454847]
mIoU (ignoring label 0):
0.4655278436794744
Overall accuracy
0.8300203850395962
r = 0.2, k = 10
knn match time: 47.98038911819458
Confusion matrix:
0 1 2 3 4 5 6 7 8
0 0 14480 74 1838 996 9114 70 52799 148
1 0 13144073 7128 772 33620 464771 6950 1839 3920
2 0 21123 3065 782 5041 962 1633 109 241
3 0 3016 301 216849 30210 23994 972 893 82
4 0 7604 10824 199230 898284 87374 106300 369 16067
5 0 413118 881 22781 2707 8270039 22287 12860 11268
6 0 130877 1324 15421 154497 2744654 337610 106725 8629
7 0 13592 0 370 279 220 241 71712 68
8 0 17935 0 0 824 28728 1444 22900 185521
IoU per class:
[0.9210765014816047,
0.057381959785823944,
0.4205164901012851,
0.5783328933899036,
0.6830992139522728,
0.0927611109462562,
0.30886780344306286,
0.6233339045180712]
mIoU (ignoring label 0):
0.46067123470228505
Overall accuracy
0.8289923151949375
r = 0.1, k = 10
knn match time: 46.46926927566528
Confusion matrix:
0 1 2 3 4 5 6 7 8
0 0 14479 74 1839 995 9113 70 52799 150
1 0 13144262 7132 768 33640 464577 6930 1837 3927
2 0 21123 3051 790 5037 965 1640 110 240
3 0 3017 305 216831 30226 23990 973 893 82
4 0 7612 10859 199210 898252 87390 106303 358 16068
5 0 413004 907 22801 2726 8270006 22277 12880 11340
6 0 131017 1330 15411 154632 2744521 337516 106714 8596
7 0 13582 0 370 285 220 241 71716 68
8 0 17930 0 0 826 28731 1447 22906 185512
IoU per class:
[0.9210884548236281,
0.057039765185365215,
0.4204864767378948,
0.5782400683908578,
0.6831139234128247,
0.09273569135508036,
0.30888104057197,
0.6232073449725034]
mIoU (ignoring label 0):
0.46059909568126556
Overall accuracy
0.8289920642800841
- with
python predict.py --ckpt logs/semantic/best_model_epoch_290.ckpt --set=test --n=1000 - with 0.1 voxel size interpolation
Processing sg27_station4_intensity_rgb
Processing sg27_station5_intensity_rgb
Processing sg27_station9_intensity_rgb
Processing sg28_station4_intensity_rgb
Processing untermaederbrunnen_station1_xyz_intensity_rgb
Processing untermaederbrunnen_station3_xyz_intensity_rgb
Confusion matrix:
0 1 2 3 4 5 6 7 8
0 495085 1278 1138 430 1751 2415 2266 13 57
1 14688505 499853852 1424380 69629 133094 4642140 1440000 101662 217503
2 4633497 53136682 63102603 155514 781999 342622 583525 1025 3658
3 4885899 6180 200999 91055662 372718 312404 1013208 5738 6746
4 5842146 1041821 3440385 22016860 6395483 50497774 7355221 323567 158837
5 9969119 2000776 34492 307341 697438 124783086 1151075 108788 137887
6 3774938 11176530 861974 619391 635722 10724816 14632771 1581235 342359
7 156577 234451 47293 13167 2066 314218 219827 1496877 39241
8 636100 969530 12449 14746 58887 151604 248975 51796 7978005
IoU per class:
[Warn] Contains prediction of label 0: [ 495085. 14688505. 4633497. 4885899. 5842146. 9969119. 3774938.
156577. 636100.]
[0.8671270479918032,
0.5083606408141168,
0.7838118662736036,
0.06810089995863355,
0.6359784757546797,
0.2782602969283313,
0.32963954026370246,
0.7676899350600925]
mIoU (ignoring label 0):
[Warn] Contains prediction of label 0: [ 495085. 14688505. 4633497. 4885899. 5842146. 9969119. 3774938.
156577. 636100.]
0.5298710878806203
Overall accuracy
0.815954648976134
| name | set | # points raw | # points npz |
|---|---|---|---|
bildstein_station1_xyz_intensity_rgb |
train | 29,697,591 | 1,067,441 |
bildstein_station3_xyz_intensity_rgb |
train | 23,995,481 | 1,266,791 |
bildstein_station5_xyz_intensity_rgb |
train | 24,919,498 | 1,483,879 |
domfountain_station1_xyz_intensity_rgb |
train | 44,990,641 | 842,532 |
domfountain_station2_xyz_intensity_rgb |
train | 41,268,288 | 841,896 |
domfountain_station3_xyz_intensity_rgb |
train | 35,207,289 | 1,066,277 |
neugasse_station1_xyz_intensity_rgb |
train | 50,122,464 | 1,660,690 |
sg27_station1_intensity_rgb |
train | 322,088,562 | 4,628,578 |
sg27_station2_intensity_rgb |
train | 496,702,861 | 2,929,917 |
sg27_station4_intensity_rgb |
valid | 280,994,776 | 3,193,565 |
sg27_station5_intensity_rgb |
valid | 218,272,134 | 3,747,586 |
sg27_station9_intensity_rgb |
train | 222,908,912 | 3,275,825 |
sg28_station4_intensity_rgb |
valid | 258,720,948 | 2,514,756 |
untermaederbrunnen_station1_xyz_intensity_rgb |
valid | 27,977,429 | 1,009,747 |
untermaederbrunnen_station3_xyz_intensity_rgb |
valid | 28,059,319 | 770,059 |
birdfountain_station1_xyz_intensity_rgb |
test | 40,133,912 | |
castleblatten_station1_intensity_rgb |
test | 31,806,225 | |
castleblatten_station5_xyz_intensity_rgb |
test | 49,152,311 | |
marketplacefeldkirch_station1_intensity_rgb |
test | 26,884,140 | |
marketplacefeldkirch_station4_intensity_rgb |
test | 23,137,668 | |
marketplacefeldkirch_station7_intensity_rgb |
test | 23,419,114 | |
sg27_station10_intensity_rgb |
test | 285,579,196 | |
sg27_station3_intensity_rgb |
test | 422,445,052 | |
sg27_station6_intensity_rgb |
test | 226,790,878 | |
sg27_station8_intensity_rgb |
test | 429,615,314 | |
sg28_station2_intensity_rgb |
test | 170,158,281 | |
sg28_station5_xyz_intensity_rgb |
test | 267,520,082 | |
stgallencathedral_station1_intensity_rgb |
test | 31,179,769 | |
stgallencathedral_station3_intensity_rgb |
test | 31,643,853 | |
stgallencathedral_station6_intensity_rgb |
test | 32,486,227 |