This is the official PyTorch implementation of MAFT (Mask-Attention-Free Transformer) (ICCV 2023).

Mask-Attention-Free Transformer for 3D Instance Segmentation [Paper]

Xin Lai, Yuhui Yuan, Ruihang Chu, Yukang Chen, Han Hu, Jiaya Jia

Install dependencies

# install attention_rpe_ops
cd lib/attention_rpe_ops && python3 setup.py install && cd ../../

# install pointgroup_ops
cd maft/lib && python3 setup.py develop && cd ../../

# install maft
python3 setup.py develop

# install other dependencies
pip install -r requirements.txt

Note: Make sure you have installed gcc and cuda, and nvcc can work (if you install cuda by conda, it won't provide nvcc and you should install cuda manually.)

(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.

PointGroup
├── 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 dataset/scannetv2
python prepare_data_inst_with_normal.py.py --data_split train
python prepare_data_inst_with_normal.py.py --data_split val
python prepare_data_inst_with_normal.py.py --data_split test

python3 tools/train.py configs/scannet/maft_scannet.yaml

python3 tools/train.py configs/scannet/maft_scannet.yaml --resume [MODEL_PATH] --eval_only

If you find this project useful, please consider citing:

@inproceedings{lai2023mask,
  title={Mask-Attention-Free Transformer for 3D Instance Segmentation},
  author={Lai, Xin and and Yuan, Yuhui and Chu, Ruihang and Chen, Yukang and Hu, Han and Jia, Jiaya},
  booktitle={ICCV},
  year={2023}
}

• Spherical Transformer for LiDAR-based 3D Recognition (CVPR 2023) [Paper] [Code] : A plug-and-play transformer module that boosts performance for distant region (for 3D LiDAR point cloud)

• Stratified Transformer for 3D Point Cloud Segmentation (CVPR 2022): [Paper] [Code] : Point-based window transformer for 3D point cloud segmentation

• SparseTransformer (SpTr) Library [Code] : A fast, memory-efficient, and easy-to-use library for sparse transformer with varying token numbers.