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Results

• 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

Dataset statistics

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