├── .gitignore
├── README.md
├── assets
├── ft_visualize.png
├── represent.png
├── res.png
└── structure_overview.png
├── checkpoints
└── ckpt_best.pt
├── config
├── config_kitti.yaml
├── config_pretrain.yaml
└── config_things.yaml
├── dataset
├── __init__.py
├── augmentation.py
├── flyingthings_subset.py
├── kitti.py
└── preprocess_data.py
├── env.yaml
├── models
├── __init__.py
├── base.py
├── camlipwc.py
├── camlipwc2d_core.py
├── camlipwc3d_core.py
├── camlipwc_core.py
├── csrc
│ ├── __init__.py
│ ├── correlation
│ │ ├── correlation.cpp
│ │ ├── correlation.h
│ │ ├── correlation_backward_kernel.cu
│ │ ├── correlation_forward_kernel.cu
│ │ └── correlation_test.cpp
│ ├── furthest_point_sampling
│ │ ├── furthest_point_sampling.cpp
│ │ ├── furthest_point_sampling.h
│ │ ├── furthest_point_sampling_kernel.cu
│ │ └── furthest_point_sampling_test.cpp
│ ├── k_nearest_neighbor
│ │ ├── k_nearest_neighbor.cpp
│ │ ├── k_nearest_neighbor.h
│ │ ├── k_nearest_neighbor_kernel.cu
│ │ └── k_nearest_neighbor_test.cpp
│ ├── setup.py
│ └── wrapper.py
├── fusion_module.py
├── losses2d.py
├── losses3d.py
├── pointconv.py
└── utils.py
├── ops_pytorch
├── __init__.py
├── fused_conv_select
│ ├── fused_conv_g.cpp
│ ├── fused_conv_go.cu
│ ├── fused_conv_gpu.h
│ ├── fused_conv_select_k.py
│ └── setup.py
└── gpu_threenn_sample
│ ├── no_sort_knn.py
│ ├── no_sort_knn_g.cpp
│ ├── no_sort_knn_go.cu
│ ├── no_sort_knn_gpu.h
│ └── setup.py
├── train.py
└── utils
├── __init__.py
├── average_meter.py
├── build_utils.py
├── evaluation_utils.py
├── geometry.py
├── log_utils.py
└── train_utils.py
/.gitignore:
--------------------------------------------------------------------------------
1 | *.zip
2 | output/*
3 | .vscode
4 | # 3rdparty
5 | Datasets
6 | SUMMARY
7 | *.out
8 | # Byte-compiled / optimized / DLL files
9 | __pycache__/
10 | *.py[cod]
11 | *$py.class
12 | *.log
13 | # C extensions
14 | *.so
15 | *.ply
16 | *.npy
17 | *.log
18 | # Distribution / packaging
19 | .Python
20 | build/
21 | exps*/
22 | ckpts/*
23 | develop-eggs/
24 | dist/
25 | downloads/
26 | eggs/
27 | .eggs/
28 | lib/
29 | lib64/
30 | parts/
31 | sdist/
32 | var/
33 | wheels/
34 | pip-wheel-metadata/
35 | share/python-wheels/
36 | *.egg-info/
37 | .installed.cfg
38 | *.egg
39 | MANIFEST
40 | output/
41 | # PyInstaller
42 | # Usually these files are written by a python script from a template
43 | # before PyInstaller builds the exe, so as to inject date/other infos into it.
44 | *.manifest
45 | *.spec
46 |
47 | # Installer logs
48 | pip-log.txt
49 | pip-delete-this-directory.txt
50 |
51 | # Unit test / coverage reports
52 | htmlcov/
53 | .tox/
54 | .nox/
55 | .coverage
56 | .coverage.*
57 | .cache
58 | nosetests.xml
59 | coverage.xml
60 | *.cover
61 | *.py,cover
62 | .hypothesis/
63 | .pytest_cache/
64 |
65 | # Translations
66 | *.mo
67 | *.pot
68 |
69 | # Django stuff:
70 | *.log
71 | local_settings.py
72 | db.sqlite3
73 | db.sqlite3-journal
74 |
75 | # Flask stuff:
76 | instance/
77 | .webassets-cache
78 |
79 | # Scrapy stuff:
80 | .scrapy
81 |
82 | # Sphinx documentation
83 | docs/_build/
84 |
85 | # PyBuilder
86 | target/
87 |
88 | # Jupyter Notebook
89 | .ipynb_checkpoints
90 |
91 | # IPython
92 | profile_default/
93 | ipython_config.py
94 |
95 | # pyenv
96 | .python-version
97 |
98 | # pipenv
99 | # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
100 | # However, in case of collaboration, if having platform-specific dependencies or dependencies
101 | # having no cross-platform support, pipenv may install dependencies that don't work, or not
102 | # install all needed dependencies.
103 | #Pipfile.lock
104 |
105 | # PEP 582; used by e.g. github.com/David-OConnor/pyflow
106 | __pypackages__/
107 |
108 | # Celery stuff
109 | celerybeat-schedule
110 | celerybeat.pid
111 |
112 | # SageMath parsed files
113 | *.sage.py
114 |
115 | # Environments
116 | .env
117 | .venv
118 | env/
119 | venv/
120 | ENV/
121 | env.bak/
122 | venv.bak/
123 |
124 | # Spyder project settings
125 | .spyderproject
126 | .spyproject
127 |
128 | # Rope project settings
129 | .ropeproject
130 |
131 | # mkdocs documentation
132 | /site
133 |
134 | # mypy
135 | .mypy_cache/
136 | .dmypy.json
137 | dmypy.json
138 |
139 | # Pyre type checker
140 | .pyre/
141 | *.ppt
142 | *.pptx
143 | *.log
--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | DELFlow: Dense Efficient Learning of Scene Flow for Large-Scale Point Clouds
2 |
3 |
4 |
5 | 
6 |
7 |
35 |
36 | 
37 |
38 |
89 | [Unzip them and organize the directory as follows (click to expand)]
90 |
91 |
92 | ```
93 | dataset/kitti_scene_flow
94 | ├── testing
95 | │ ├── calib_cam_to_cam
96 | │ ├── calib_imu_to_velo
97 | │ ├── calib_velo_to_cam
98 | │ ├── disp_ganet
99 | │ ├── flow_occ
100 | │ ├── image_2
101 | │ ├── image_3
102 | │ ├── semantic_ddr
103 | └── training
104 | ├── calib_cam_to_cam
105 | ├── calib_imu_to_velo
106 | ├── calib_velo_to_cam
107 | ├── disp_ganet
108 | ├── disp_occ_0
109 | ├── disp_occ_1
110 | ├── flow_occ
111 | ├── image_2
112 | ├── image_3
113 | ├── obj_map
114 | ├── semantic_ddr
115 | ```
116 |
117 |
118 |
119 | ## :computer: Usage
120 |
121 | Run the code using the following command:
122 |
123 | ```python
124 | python train.py config/$config_.yaml$
125 | ```
126 |
127 |
128 |
129 | 
130 |
131 |
156 |
157 | 
158 |
159 |