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This is our implementation of PointCleannet, a network removes outliers and reduces noise in unordered point clouds.

PointCleanNet cleans point clouds

The architecture is similar to PCPNet (with a few smaller modifications).

This code was written by Marie-Julie Rakotosaona, based on the excellent implementation of PCPNet by Paul Guerrero and Yanir Kleiman.


  • CUDA and CuDNN (changing the code to run on CPU should require few changes)
  • Python 2.7
  • PyTorch 1.0


Install required python packages, if they are not already installed (tensorboardX is only required for training):

pip install numpy
pip install scipy
pip install tensorboardX

Clone this repository:

git clone
cd pointcleannet

Download datasets:

cd data
python --task denoising
python --task outliers_removal

Download pretrained models:

cd models
python --task denoising
python --task outliers_removal


Our data can be found here: .

It contains the following files:

  • Dataset for denoising
  • Training set and test set for outliers removal
  • Pre-trained models for denoising and outliers removal

In the datasets the input and ground truth point clouds are stored in different files with the same name but with different extensions.

  • For denoising: .xyz for input noisy point clouds, .clean_xyz for the ground truth.
  • For outliers removal: .xyz for input point clouds with outliers, .outliers for the labels.

Removing outliers

To classify outliers using default settings:

cd outliers_removal
mkdir results


To denoise point clouds using default settings:

cd noise_removal
mkdir results

(the input shapes and number of iterations are specified in file)


To train PCPNet with the default settings:



If you use our work, please cite our paper.

  title={POINTCLEANNET: Learning to denoise and remove outliers from dense point clouds},
  author={Rakotosaona, Marie-Julie and La Barbera, Vittorio and Guerrero, Paul and Mitra, Niloy J and Ovsjanikov, Maks},
  booktitle={Computer Graphics Forum},
  organization={Wiley Online Library}

License: CC BY-NC 4.0

This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License. For any commercial uses or derivatives, please contact us.