SF2SE3: Clustering Scene Flow into SE(3)-Motions via Proposal and Selection @ DAGM German Conference on Pattern Recognition 2022.
To understand the algorithm start here.
(a) Docker
sudo docker build -t sflow2se3:v1 -f ./scripts/setup/Dockerfile .
bash scripts/setup/setup_sflow2se3.sh
source venv_py38_sflow2se3/bin/activate
(a) Custom Stereo : supplement datasets/Custom_Stereo
(b) Custom RGBD : supplement datasets/Custom_RGBD
(c) FlyingThings3D : download (Subset DispNet/FlowNet2.0) and adapt & run
(d) KITTI-2015 : download
(e) TUM RGBD : download
sudo docker run --gpus all -v <ext_vol>:<ext_vol> sflow2se3:v1 <configs>
python3.8 eval.py <configs>
For setup adjustments look at config-setup e.g. datasets directory and output directory.
For data adjustments look at config-data e.g. camera settings.
--config-setup configs/setup/custom.yaml --config-data configs/data/custom_stereo.yaml --config-sflow2se3 configs/sflow2se3/classic.yaml --config-sflow2se3-data-dependent configs/sflow2se3/custom_stereo/classic.yaml
Note: Data is expected to have same data types as FlyingThings3D. Otherwise, adjustements to the data loading is necessary.
--config-setup configs/setup/custom.yaml --config-data configs/data/custom_rgbd.yaml --config-sflow2se3 configs/sflow2se3/classic.yaml --config-sflow2se3-data-dependent configs/sflow2se3/custom_rgbd/classic.yaml
Note: Data is expected to have same data types as TUM RGBD. Otherwise, adjustements to the data loading is necessary.
--config-setup configs/setup/custom.yaml --config-data configs/data/flyingthings3d_dispnet.yaml --config-sflow2se3 configs/sflow2se3/classic.yaml --config-sflow2se3-data-dependent configs/sflow2se3/flyingthings3d_dispnet/classic.yaml
--config-setup configs/setup/custom.yaml --config-data configs/data/kitti.yaml --config-sflow2se3 configs/sflow2se3/classic.yaml --config-sflow2se3-data-dependent configs/sflow2se3/kitti/classic.yaml
--config-setup configs/setup/custom.yaml --config-data configs/data/tum_rgbd_fr3.yaml --config-sflow2se3 configs/sflow2se3/classic.yaml --config-sflow2se3-data-dependent configs/sflow2se3/tum_rgbd_fr3/classic.yaml
Optical Flow Neural Network : RAFT
Disparity Neural Network : LEAStereo