This repo is an unofficial TensorFlow implementation of Semantic Query Network (SQN). Yet, it achieves comparable or even better performance on S3DIS as the SQN paper (w/o any additional training strategies, e.g., re-training w. pseudo labels), check Results section for details.
New (Nov. 4, 2021): this SQN implementation achieves further performance boost using imbalanced learning techniques. Under 0.01%, it achieves 48.98% mIoU, outperforming the official SQN by 3.68%..
New update(Oct. 28, 2021): our repo also outperforms recent SOTA One Thing One Click on S3DIS under 0.02% weak labels, achieving 50.72 mIoU. check Results section for details.
Our repo achieves better performance (47.56% mIoU) on S3DIS than the original SQN paper (45.30% mIoU) under w. only 0.01% weak labels. Check its checkpoint for details.
The latest codes are tested on two Ubuntu settings:
- Ubuntu 18.04, Nvidia 1080, CUDA 10.1, TensorFlow 1.13 and Python 3.6
- Ubuntu 18.04, Nvidia 3090, CUDA 11.3, TensorFlow 1.13 and Python 3.6
git clone https://github.com/PointCloudYC/SQN_tensorflow && cd SQN_tensorflow
create a conda environment
# DL is the conda env name
conda create -n DL python=3.5
source activate DL
pip install -r helper_requirements.txt
# compile the sub-sampling and knn op
sh compile_op.sh
For more details to set up the development environment, check the official RandLA-Net repo.
You can download the S3DIS dataset from here (4.8 GB). You only need to download the file named Stanford3dDataset_v1.2.zip, unzip and move (or link) it to a folder. (same as the RandLA-Net repo setting.)
# assume S3DIS dataset is downloaded at /media/yinchao/dataset/S3DIS
ln -s /media/yinchao/dataset/S3DIS ./data/S3DIS/Stanford3dDataset_v1.2_Aligned_Version
You can use the s3dis-prepare-sqn.sh script to prepare the S3DIS dataset with weak labels.
# prepare the dataset, each room (Note: each area is preprocessed in the CLoserLook3D code) will result in four files 1 file in the original_ply folder for raw_pc.ply, and 3 files in the input_0.040 for sub_pc.py, sub_pc.kdtree, and project_indices file for each raw point, check data_prepare_s3dis_sqn.py for details.
python utils/data_prepare_s3dis_sqn.py
# check #rooms in npy format, should be 272 rooms
find *.npy | wc -l
The data file structure should look like:
<root>
├── ...
├── data
│ └── S3DIS
│ └── Stanford3dDataset_v1.2_Aligned_Version
│ ├── Area_1
│ ├── Area_2
│ ├── Area_3
│ ├── Area_4
│ ├── Area_5
│ └── Area_6
│ └── input_0.040
│ └── original_ply
│ └── weak_label_0.01
└── ...
Only tf_ops/3d_interpolation CUDA ops need to be compiled, which will used for three trilinear interpolation.
check the tf_interpolate_compile.sh; You may need to tailor the CUDA_ROOT and TF_ROOT path according to your own system.
#/bin/bash
CUDA_ROOT="/usr/local/cuda-10.1"
TF_ROOT="/home/yinchao/miniconda3/envs/DL/lib/python3.6/site-packages/tensorflow"
# TF1.4 (Note: -L ${TF_ROOT} should have a space in between)
g++ -std=c++11 tf_interpolate.cpp -o tf_interpolate_so.so -shared -fPIC -I ${TF_ROOT}/include -I ${CUDA_ROOT}/include -I ${TF_ROOT}/include/external/nsync/public -lcudart -L ${CUDA_ROOT}/lib64/ -L ${TF_ROOT} -ltensorflow_framework -O2 # -D_GLIBCXX_USE_CXX11_ABI=0
For more details, check Charles' PointNet2
To train the SQN, run this command:
python main_S3DIS_Sqn.py \
--gpu 0 \
--mode train \
--test_area 5
For more arguments, see
main_S3DIS_Sqn.pyor usepython main_S3DIS_Sqn.py --helpto see documentation.
P.S.: you can use run-s3dis-Sqn.sh bash script to train multiple settings or do ablation study.
To evaluate our model on S3DIS, run:
python main_S3DIS_Sqn.py \
--gpu 0 \
--mode test \
--test_area 5
For more arguments, see
main_S3DIS_Sqn.pyor usepython main_S3DIS_Sqn.py --helpto see documentation.
Our SQN achieves the following performance on S3DIS:
We use Nvidia 1080 GPU to train the replicated SQN with a small batch size; The performance might be improved if a powerful GPU w. larger memory could be used. We will update this performance table with a Nvidia 3090 in the future.
| Model | Weak ratio | mIoU(%) | Description |
|---|---|---|---|
| SQN(Official) | 100% | 63.73 | trained with full labels |
| SQN(Official) | 10% | 64.67 | Note: add retrain w. pseudo labels |
| SQN(this repo) | 10% | in progress | no retraining w. pseudo labels |
| SQN(Official) | 1% | 63.65 | Note: add retrain w. pseudo labels |
| SQN(this repo) | 1% | in progress | no retraining w. pseudo labels |
| SQN(Official) | 0.1% | 61.41 | Note: add retrain w. pseudo labels |
| SQN(this repo) | 0.1% | 55.25 | no retraining w. pseudo labels |
| One-Thing-One-Click | 0.02% | 50.1 | CVPR2021 paper |
| SQN(this repo) | 0.02% | 50.72 | no retraining w. pseudo labels |
| SQN(Official) | 0.01% | 45.30 | Note: add retrain w. pseudo labels |
| SQN(this repo) | 0.01% | 48.98 | no retraining w. pseudo labels |
| SQN(this repo) | 0.0067% | 46.81 | no retraining w. pseudo labels |
| SQN(this repo) | 0.005% | 45.27 | no retraining w. pseudo labels |
| SQN(this repo) | 0.002% | 39.54 | no retraining w. pseudo labels |
| SQN(this repo) | 0.001% | 35.65 | no retraining w. pseudo labels |
Note: experiments are still in progress due to my slow GPU. Stay in tuned.
Those numbers surpassing the official SQN is highlighted in bold in the table.
You can download pre-trained models and training log here:
Each check point folder has the following files:
Use the below script to run checkpoint model on S3DIS:
python -B main_S3DIS_Sqn.py \
--gpu 0 \
--mode test \
--test_area 5 \
--model_path [your_checkpoint_path, e.g., /path/xx/snap-27001; no need add the file extension]
Our pytorch codes borrowed a lot from official RandLA-Net and the custom trilinear interoplation CUDA ops are modified from official Pointnet2.
- re-train w. pseudo labels to further improve performance
- apply self-supervised learning techniques, e.g., Contrastive Learning.
- implement the training strategy mentioned in the Appendix of the paper.
- ablation study
- benchmark weak supervision
- dataset preparation implementation
- SQN architecture implementation consisting of encoder and query network
- training an evaluation loop modification
If you find our work useful in your research, please consider citing:
@code{SQN_tensorflow_yc,
Author = {YIN, Chao},
Title = {SQN TensorFlow implementation},
Journal = {https://github.com/PointCloudYC/SQN_tensorflow},
Year = {2021}
}
@article{hu2021sqn,
title={SQN: Weakly-Supervised Semantic Segmentation of Large-Scale 3D Point Clouds with 1000x Fewer Labels},
author={Hu, Qingyong and Yang, Bo and Fang, Guangchi and Guo, Yulan and Leonardis, Ales and Trigoni, Niki and Markham, Andrew},
journal={arXiv preprint arXiv:2104.04891},
year={2021}
}
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