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View-Consistent Hierarchical 3D Segmentation Using Ultrametric Feature Fields

Paper | Code

This is the codebase of "View-Consistent Hierarchical 3D Segmentation Using Ultrametric Feature Fields".

https://github.com/hardyho/ultrametric_feature_fields/assets/61956100/3ec7968b-db14-4527-b5c4-8fa1b2e0c8b0

Enviornment

Setup

# assume cuda 11.1
pip install torch==1.10.2+cu111 torchvision==0.11.3+cu111 --extra-index-url https://download.pytorch.org/whl/cu111 --no-cache-dir
pip install torch-scatter -f https://data.pyg.org/whl/torch-1.10.2+cu111.html

pip install -r requirements.txt
pip install git+https://github.com/NVlabs/tiny-cuda-nn/#subdirectory=bindings/torch
git submodule update --init --recursive
cd apex && pip install -v --disable-pip-version-check --no-cache-dir --global-option="--cpp_ext" --global-option="--cuda_ext" ./ && cd ..
pip install models/csrc/

Data

Download the Blender-HS dataset from the link. Organized the dataset in following structure:

-
  - train
    - IMAGE_i.png
        ...
  - val
  - train_seg
    - IMAGE_i
      - MASK_i.png
      ...
  - val_seg
  - train_seg_hierarchy
    ...
  - val_seg_hierarchy
  - train_depth
  - val_depth
  - val_visible
  - gt_seg
    - train
    - val
  - transforms_train.json
  - transforms_val.json
  - transforms_val_rotate_90.json

For custom datasets, you can follow this instruction to generate SAM outputs and the get the hierarchy information ({train,val}_seg and {train,val}_seg_hierarchy).

Usage

NeRF Training

python train.py --root_dir ROOT_DIR --dataset_name nerf --exp_name EXP_NAME --render_feature --downsample 0.25 --num_epochs 20 --batch_size 4096 --ray_sampling_strategy same_image --feature_dim 128 --load_seg --hierarchical_sampling --ultrametric_weight 1.0 --euclidean_weight 1.0 --num_seg_samples 64 --depth_smooth --lr 1e-2 --run_seg_inference --render_train --rotate_test

• --root_dir is the root directory of the dataset.
• --ultrametric_weight and --euclidean_weight is the loss weight of the contrastive loss in the Ultrametric and the Euclidean space respectively
• --run_seg_inference will generate per-frame 2D scene parsing result during the inference (which may be view-inconsistent). This is just for visualization and are not needed for generating 3D segmentation.
• --render_train will render the feature maps of images in the training set which are used in 3D segmentation.
• --rotate_test will render rotated test views for view consistency evaluation

(Optional) NeRF Inference

python render.py --root_dir ROOT_DIR --dataset_name nerf --exp_name EXP_NAME --render_feature --downsample 0.25 --num_epochs 20 --batch_size 4096 --ray_sampling_strategy same_image --feature_dim 128 --load_seg --hierarchical_sampling --ultrametric_weight 1.0 --euclidean_weight 1.0 --num_seg_samples 64 --depth_smooth --lr 1e-2 --run_seg_inference --render_train --rotate_test --ckpt_path CKPT_PATH --render_dir RENDER_DIR

Run render.py if you want to run inference with checkpoints again after training. We recommend you to set RENDER_DIR as results/nerf/NAME for 3D segmentation.

3D Segmentation

python 3dseg.py EXP_NAME OUTPUT_NAME

Run the command to get the 3D segmentation results, which includes a 3D point clouds colored by segmentation id, and view-consistent 2D segmentation maps for all test views.

Evaluation

python scripts/eval_nc.py ROOT_DIR EXP_NAME
python scripts/eval_vc.py ROOT_DIR EXP_NAME

Run evalution to get the Normal Covering Score and the View Consistency Score of the 3D segmentation result.

Citation

The codebase of NeRF is derived from ngp_pl and Distilled Feature Fields

If you find this project useful in your research, please cite:

@misc{he2024viewconsistent,
      title={View-Consistent Hierarchical 3D SegmentationUsing Ultrametric Feature Fields}, 
      author={Haodi He and Colton Stearns and Adam W. Harley and Leonidas J. Guibas},
      year={2024},
      eprint={2405.19678},
      archivePrefix={arXiv},
}