Tools

Here we introduce some tools to help you:

• visualize the data and results.
• convert the pretrained model from others.
• ... More to come.

Visualization

run tools/visualization.py to view the scene flow dataset with ground truth flow. Note the color wheel in under world coordinate.

# view gt flow
python3 tools/visualization.py --data_dir /home/kin/data/av2/preprocess/sensor/mini --res_name flow

# view est flow
python3 tools/visualization.py --data_dir /home/kin/data/av2/preprocess/sensor/mini --res_name deflow_best
python3 tools/visualization.py --data_dir /home/kin/data/av2/preprocess/sensor/mini --res_name seflow_best

Demo Effect (press SPACE to stop and start in the visualization window):

seflow.mp4

Conversion

run tools/zero2ours.py to convert the ZeroFlow pretrained model to our codebase.

python tools/zero2ours.py --model_path /home/kin/nsfp_distilatation_3x_49_epochs.ckpt --reference_path /home/kin/fastflow3d.ckpt --output_path /home/kin/zeroflow3x.ckpt

• model_path, you can download from: kylevedder/zeroflow_weights
• reference_path, you can download fastflow3d model from: HuggingFace
• output_path, the converted model path. You can then run any evaluation script and visualization script with the converted model.