[Enhance] Add tutorial for 3D Seg task (#663)

* add seg tutorial

* specify sem seg

* fix typo

docs/supported_tasks/index.rst

@@ -2,3 +2,4 @@
    :maxdepth: 2
 
    lidar_det3d.md
+   lidar_sem_seg3d.md

docs/supported_tasks/lidar_sem_seg3d.md

+# LiDAR-Based 3D Semantic Segmentation
+
+LiDAR-based 3D semantic segmentation is one of the most basic tasks supported in MMDetection3D.
+It expects the given model to take any number of points with features collected by LiDAR as input, and predict the semantic labels for each input point.
+Next, taking PointNet++ (SSG) on the ScanNet dataset as an example, we will show how to prepare data, train and test a model on a standard 3D semantic segmentation benchmark, and how to visualize and validate the results.
+
+## Data Preparation
+
+To begin with, we need to download the raw data from ScanNet's [official website](http://kaldir.vc.in.tum.de/scannet_benchmark/documentation).
+
+Due to different ways of organizing the raw data in different datasets, we typically need to collect the useful data information with a .pkl or .json file.
+
+So after getting all the raw data ready, we can follow the instructions presented in [ScanNet README doc](https://github.com/open-mmlab/mmdetection3d/blob/master/data/scannet/README.md/) to generate data infos.
+
+Afterwards, the related folder structure should be as follows:
+
+```
+mmdetection3d
+├── mmdet3d
+├── tools
+├── configs
+├── data
+│   ├── scannet
+│   │   ├── scannet_utils.py
+│   │   ├── batch_load_scannet_data.py
+│   │   ├── load_scannet_data.py
+│   │   ├── scannet_utils.py
+│   │   ├── README.md
+│   │   ├── scans
+│   │   ├── scans_test
+│   │   ├── scannet_instance_data
+│   │   ├── points
+│   │   ├── instance_mask
+│   │   ├── semantic_mask
+│   │   ├── seg_info
+│   │   │   ├── train_label_weight.npy
+│   │   │   ├── train_resampled_scene_idxs.npy
+│   │   │   ├── val_label_weight.npy
+│   │   │   ├── val_resampled_scene_idxs.npy
+│   │   ├── scannet_infos_train.pkl
+│   │   ├── scannet_infos_val.pkl
+│   │   ├── scannet_infos_test.pkl
+```
+
+## Training
+
+Then let us train a model with provided configs for PointNet++ (SSG).
+You can basically follow this [tutorial](https://mmdetection3d.readthedocs.io/en/latest/1_exist_data_model.html#inference-with-existing-models) for sample scripts when training with different GPU settings.
+Suppose we use 2 GPUs on a single machine with distributed training:
+
+```
+./tools/dist_train.sh configs/pointnet2/pointnet2_ssg_16x2_cosine_200e_scannet_seg-3d-20class.py 2
+```
+
+Note that `16x2` in the config name refers to the training is completed with 2 GPUs and 16 samples on each GPU.
+If your customized setting is different from this, sometimes you need to adjust the learning rate accordingly.
+A basic rule can be referred to [here](https://arxiv.org/abs/1706.02677).
+
+## Quantitative Evaluation
+
+During training, the model checkpoints will be evaluated regularly according to the setting of `evaluation = dict(interval=xxx)` in the config.
+We support official evaluation protocols for different datasets.
+For ScanNet, the model will be evaluated with mean Intersection over Union (mIoU) over all 20 categories.
+The evaluation results will be printed in the command like:
+
+```
++---------+--------+--------+---------+--------+--------+--------+--------+--------+--------+-----------+---------+---------+--------+---------+--------------+----------------+--------+--------+---------+----------------+--------+--------+---------+
+| classes | wall   | floor  | cabinet | bed    | chair  | sofa   | table  | door   | window | bookshelf | picture | counter | desk   | curtain | refrigerator | showercurtrain | toilet | sink   | bathtub | otherfurniture | miou   | acc    | acc_cls |
++---------+--------+--------+---------+--------+--------+--------+--------+--------+--------+-----------+---------+---------+--------+---------+--------------+----------------+--------+--------+---------+----------------+--------+--------+---------+
+| results | 0.7257 | 0.9373 | 0.4625  | 0.6613 | 0.7707 | 0.5562 | 0.5864 | 0.4010 | 0.4558 | 0.7011    | 0.2500  | 0.4645  | 0.4540 | 0.5399  | 0.2802       | 0.3488         | 0.7359 | 0.4971 | 0.6922  | 0.3681         | 0.5444 | 0.8118 | 0.6695  |
++---------+--------+--------+---------+--------+--------+--------+--------+--------+--------+-----------+---------+---------+--------+---------+--------------+----------------+--------+--------+---------+----------------+--------+--------+---------+
+```
+
+In addition, you can also evaluate a specific model checkpoint after training is finished. Simply run scripts like the following:
+
+```
+./tools/dist_test.sh configs/pointnet2/pointnet2_ssg_16x2_cosine_200e_scannet_seg-3d-20class.py \
+    work_dirs/pointnet2_ssg/latest.pth --eval mIoU
+```
+
+## Testing and Making a Submission
+
+If you would like to only conduct inference or test the model performance on the online benchmark,
+you need to replace the `--eval mIoU` with `--format-only` in the previous evaluation script and change `ann_file=data_root + 'scannet_infos_val.pkl'` to `ann_file=data_root + 'scannet_infos_test.pkl'` in the ScanNet dataset's [config](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/_base_/datasets/scannet_seg-3d-20class.py#L126). Remember to specify the `txt_prefix` as the directory to save the testing results,
+e.g., adding an option `--eval-options txt_prefix=work_dirs/pointnet2_ssg/test_submission`.
+After generating the results, you can basically compress the folder and upload to the [ScanNet evaluation server](http://kaldir.vc.in.tum.de/scannet_benchmark/semantic_label_3d).
+
+## Qualitative Validation
+
+MMDetection3D also provides versatile tools for visualization such that we can have an intuitive feeling of the segmentation results predicted by our trained models.
+You can either set the `--eval-options 'show=True' 'out_dir=${SHOW_DIR}'` option to visualize the segmentation results online during evaluation,
+or using `tools/misc/visualize_results.py` for offline visualization.
+Besides, we also provide scripts `tools/misc/browse_dataset.py` to visualize the dataset without inference.
+Please refer more details in the [doc for visualization](https://mmdetection3d.readthedocs.io/en/latest/useful_tools.html#visualization).