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HAIS

Hierarchical Aggregation for 3D Instance Segmentation [ICCV 2021]

by
Shaoyu Chen, Jiemin Fang, Qian Zhang, Wenyu Liu, Xinggang Wang†. (†: corresponding author)


PWC PWC

Update

2022.4.28:

  • HAIS serves as a baseline of STPLS3D dataset. Code of HAIS on STPLS3D is available on [this Github repo] . STPLS3D is a large-scale photogrammetry 3D point cloud dataset, composed of high-quality, rich-annotated point clouds from real-world and synthetic environments.

STPLS3D_Learderboard

2021.9.30:

  • Code is released.
  • With better CUDA optimization, HAIS now only takes 339 ms on TITAN X, much better than the latency reported in the paper (410 ms on TITAN X).

Introduction

  • HAIS is an efficient and concise bottom-up framework (NMS-free and single-forward) for point cloud instance segmentation. It adopts the hierarchical aggregation (point aggregation and set aggregation) to generate instances and the intra-instance prediction for outlier filtering and mask quality scoring.

Framework

Learderboard

  • High speed. Thanks to the NMS-free and single-forward inference design, HAIS achieves the best inference speed among all existing methods. HAIS only takes 206 ms on RTX 3090 and 339 ms on TITAN X.
Method Per-frame latency on TITAN X
ASIS 181913 ms
SGPN 158439 ms
3D-SIS 124490 ms
GSPN 12702 ms
3D-BoNet 9202 ms
GICN 8615 ms
OccuSeg 1904 ms
PointGroup 452 ms
HAIS 339 ms

Installation

1) Environment

  • Python 3.x
  • Pytorch 1.1 or higher
  • CUDA 9.2 or higher
  • gcc-5.4 or higher

Create a conda virtual environment and activate it.

conda create -n hais python=3.7
conda activate hais

2) Clone the repository.

git clone https://github.com/hustvl/HAIS.git --recursive

3) Install the requirements.

cd HAIS
pip install -r requirements.txt
conda install -c bioconda google-sparsehash

4) Install spconv

  • Verify the version of spconv.

    spconv 1.0, compatible with CUDA < 11 and pytorch < 1.5, is already recursively cloned in HAIS/lib/spconv in step 2) by default.

    For higher version CUDA and pytorch, spconv 1.2 is suggested. Replace HAIS/lib/spconv with this fork of spconv.

git clone https://github.com/outsidercsy/spconv.git --recursive

  Note:  In the provided spconv 1.0 and 1.2, spconv\spconv\functional.py is modified to make grad_output contiguous. Make sure you use the modified spconv but not the original one. Or there would be some bugs of optimization.
  • Install the dependent libraries.
conda install libboost
conda install -c daleydeng gcc-5 # (optional, install gcc-5.4 in conda env)
  • Compile the spconv library.
cd HAIS/lib/spconv
python setup.py bdist_wheel
  • Intall the generated .whl file.
cd HAIS/lib/spconv/dist
pip install {wheel_file_name}.whl

5) Compile the external C++ and CUDA ops.

cd HAIS/lib/hais_ops
export CPLUS_INCLUDE_PATH={conda_env_path}/hais/include:$CPLUS_INCLUDE_PATH
python setup.py build_ext develop

{conda_env_path} is the location of the created conda environment, e.g., /anaconda3/envs.

Data Preparation

1) Download the ScanNet v2 dataset.

2) Put the data in the corresponding folders.

  • Copy the files [scene_id]_vh_clean_2.ply, [scene_id]_vh_clean_2.labels.ply, [scene_id]_vh_clean_2.0.010000.segs.json and [scene_id].aggregation.json into the dataset/scannetv2/train and dataset/scannetv2/val folders according to the ScanNet v2 train/val split.

  • Copy the files [scene_id]_vh_clean_2.ply into the dataset/scannetv2/test folder according to the ScanNet v2 test split.

  • Put the file scannetv2-labels.combined.tsv in the dataset/scannetv2 folder.

The dataset files are organized as follows.

HAIS
├── dataset
│   ├── scannetv2
│   │   ├── train
│   │   │   ├── [scene_id]_vh_clean_2.ply & [scene_id]_vh_clean_2.labels.ply & [scene_id]_vh_clean_2.0.010000.segs.json & [scene_id].aggregation.json
│   │   ├── val
│   │   │   ├── [scene_id]_vh_clean_2.ply & [scene_id]_vh_clean_2.labels.ply & [scene_id]_vh_clean_2.0.010000.segs.json & [scene_id].aggregation.json
│   │   ├── test
│   │   │   ├── [scene_id]_vh_clean_2.ply 
│   │   ├── scannetv2-labels.combined.tsv

3) Generate input files [scene_id]_inst_nostuff.pth for instance segmentation.

cd HAIS/dataset/scannetv2
python prepare_data_inst.py --data_split train
python prepare_data_inst.py --data_split val
python prepare_data_inst.py --data_split test

Training

CUDA_VISIBLE_DEVICES=0 python train.py --config config/hais_run1_scannet.yaml

Inference

1) To evaluate on validation set,

  • prepare the .txt instance ground-truth files as the following.
cd dataset/scannetv2
python prepare_data_inst_gttxt.py

  • set split and eval in the config file as val and True.

  • Run the inference and evaluation code.

CUDA_VISIBLE_DEVICES=0 python test.py --config config/hais_run1_scannet.yaml --pretrain $PATH_TO_PRETRAIN_MODEL$

Pretrained model: Google Drive / Baidu Cloud [code: sh4t]. mAP/mAP50/mAP25 is 44.1/64.4/75.7.

2) To evaluate on test set,

  • Set (split, eval, save_instance) as (test, False, True).
  • Run the inference code. Prediction results are saved in HAIS/exp by default.
CUDA_VISIBLE_DEVICES=0 python test.py --config config/hais_run1_scannet.yaml --pretrain $PATH_TO_PRETRAIN_MODEL$

Visualization

We provide visualization tools based on Open3D (tested on Open3D 0.8.0).

pip install open3D==0.8.0
python visualize_open3d.py --data_path {} --prediction_path {} --data_split {} --room_name {} --task {}

Please refer to visualize_open3d.py for more details.

Demo:

Acknowledgement

The code is based on PointGroup and spconv. And thank STPLS3D for extending HAIS.

Contact

If you have any questions or suggestions about this repo, please feel free to contact me (shaoyuchen@hust.edu.cn).

Citing HAIS

If you find HAIS is useful in your research or applications, please consider giving us a star 🌟 and citing HAIS by the following BibTeX entry.

@InProceedings{Chen_HAIS_2021_ICCV,
    author    = {Chen, Shaoyu and Fang, Jiemin and Zhang, Qian and Liu, Wenyu and Wang, Xinggang},
    title     = {Hierarchical Aggregation for 3D Instance Segmentation},
    booktitle = {ICCV},
    year      = {2021},
}