├── .gitignore ├── GETTING_STARTED.md ├── LICENSE ├── README.md ├── av2_scene_flow_competition_submit.py ├── configs ├── chodosh │ └── argo │ │ ├── unsupervised_sensor_train_dumper.py │ │ ├── unsupervised_sensor_val_cached.py │ │ └── unsupervised_sensor_val_dumper.py ├── fastflow3d │ ├── argo │ │ ├── chamfer_distance.py │ │ ├── chamfer_distance_batch8.py │ │ ├── chodosh_distilatation.py │ │ ├── chodosh_distilatation_dump_output.py │ │ ├── chodosh_distilatation_speed_scaled.py │ │ ├── nsfp_distilatation.py │ │ ├── nsfp_distilatation_0.01x_sequential.py │ │ ├── nsfp_distilatation_0.1x_random.py │ │ ├── nsfp_distilatation_0.1x_sequential.py │ │ ├── nsfp_distilatation_0.2x_sequential.py │ │ ├── nsfp_distilatation_0.5x_sequential.py │ │ ├── nsfp_distilatation_2x.py │ │ ├── nsfp_distilatation_2x_100_epoch.py │ │ ├── nsfp_distilatation_2x_dump_output.py │ │ ├── nsfp_distilatation_2x_xl_backbone.py │ │ ├── nsfp_distilatation_2x_xl_backbone_dump_output.py │ │ ├── nsfp_distilatation_2x_xl_backbone_dump_output_test.py │ │ ├── nsfp_distilatation_diverse.py │ │ ├── nsfp_distilatation_diverse_1x.py │ │ ├── nsfp_distilatation_dump_output.py │ │ ├── nsfp_distilatation_dump_output_test.py │ │ ├── nsfp_distilatation_run3.py │ │ ├── nsfp_distilatation_speed_scaled_updated.py │ │ ├── nsfp_distilatation_speed_scaled_updated_2x.py │ │ ├── nsfp_distilatation_speed_scaled_updated_2x_xl_backbone.py │ │ ├── nsfp_distilatation_speed_scaled_updated_batch8_train.py │ │ ├── nsfp_distilatation_speed_scaled_updated_diverse.py │ │ ├── nsfp_distilatation_speed_scaled_updated_run2.py │ │ ├── nsfp_distilatation_speed_scaled_updated_run3.py │ │ ├── nsfp_distilatation_speed_scaled_updated_xl_backbone.py │ │ ├── nsfp_distilatation_xl_backbone.py │ │ ├── nsfp_distilatation_xl_backbone_0.1x_sequential.py │ │ ├── old │ │ │ ├── nsfp_distilatation_0.1x.py │ │ │ ├── nsfp_distilatation_2x.py │ │ │ ├── nsfp_distilatation_half.py │ │ │ ├── nsfp_distilatation_tiny.py │ │ │ ├── unsupervised.py │ │ │ ├── unsupervised_bottleneck.py │ │ │ └── unsupervised_symmetry.py │ │ ├── supervised.py │ │ ├── supervised_0.01x_finetune_from_base.py │ │ ├── supervised_0.01x_sequential.py │ │ ├── supervised_0.1x_finetune_from_base.py │ │ ├── supervised_0.1x_random.py │ │ ├── supervised_0.1x_sequential.py │ │ ├── supervised_0.2x_finetune_from_base.py │ │ ├── supervised_0.2x_finetune_from_base_random.py │ │ ├── supervised_0.2x_sequential.py │ │ ├── supervised_0.5x_finetune_from_base.py │ │ ├── supervised_0.5x_finetune_from_base_random.py │ │ ├── supervised_0.5x_random.py │ │ ├── supervised_0.5x_sequential.py │ │ ├── supervised_batch8_train.py │ │ ├── supervised_dump_output.py │ │ ├── supervised_no_scale.py │ │ ├── supervised_perf_test.py │ │ ├── supervised_run2.py │ │ ├── supervised_run3.py │ │ ├── supervised_speed_scaled.py │ │ ├── supervised_speed_scaled_batch8_train.py │ │ ├── supervised_tiny.py │ │ ├── supervised_val_debug.py │ │ ├── supervised_xl_backbone.py │ │ ├── supervised_xl_backbone_0.1x_sequential.py │ │ └── supervised_xl_backbone_perf_test.py │ └── waymo │ │ ├── nsfp_distilatation.py │ │ ├── nsfp_distilatation_dump_output.py │ │ ├── nsfp_distilatation_scaled.py │ │ ├── supervised.py │ │ ├── supervised_dump_output.py │ │ └── supervised_perf_test.py ├── nearest_neighbor │ └── argo │ │ └── sensor_val.py ├── nsfp │ ├── argo │ │ ├── old │ │ │ ├── unsupervised_flow_data.py │ │ │ ├── unsupervised_flow_data_cached.py │ │ │ ├── unsupervised_lidar_data.py │ │ │ ├── unsupervised_lidar_data_subset.py │ │ │ └── unsupervised_lidar_data_subset_compliment.py │ │ ├── unsupervised_lidar_all.py │ │ ├── unsupervised_lidar_all_complimentary.py │ │ ├── unsupervised_sensor_test.py │ │ ├── unsupervised_sensor_train.py │ │ ├── unsupervised_sensor_val.py │ │ ├── unsupervised_sensor_val_cached.py │ │ ├── unsupervised_sensor_val_fix_broken.py │ │ └── unsupervised_sensor_val_perf_test.py │ └── waymo │ │ ├── unsupervised_sensor_train.py │ │ └── unsupervised_sensor_val.py └── pseudoimage.py ├── data_prep_scripts ├── argo │ ├── convert_test_outputs_to_flow_format.py │ ├── create_chodosh.py │ ├── create_odom_only_flow.py │ ├── eval_frames.txt │ ├── eval_sequence_id_index.txt │ ├── load_sequence_index.py │ ├── make_lidar_subset.py │ ├── rasterize_heightmap.py │ ├── rasterize_heightmap.sbatch │ └── repair_ssd_av2.py ├── check_nsfp_status.py ├── compute_total_runtime.py ├── investigate_bucket_sizes.py ├── investigate_pointclouds.py ├── split_nsfp_jobs.py ├── split_nsfp_jobs_sbatch.py └── waymo │ ├── check_waymo_data.py │ ├── check_waymo_nsfp_flows.py │ ├── extract_flow_and_remove_ground.py │ ├── extract_flow_and_remove_ground.sbatch │ ├── investigate_pointclouds_waymo.sbatch │ ├── old │ ├── data │ │ └── preprocess.py │ ├── patchworkpp_read.py │ ├── read_raw_data.py │ ├── remove_ground.py │ ├── tf_record_to_npz.py │ ├── tutorial_maps.ipynb │ ├── waymo_map.py │ └── waymo_map_min.py │ ├── rasterize_heightmap.py │ └── rasterize_heightmap.sbatch ├── dataloaders ├── __init__.py ├── argoverse_raw_lidar.py ├── argoverse_supervised_flow.py ├── argoverse_unsupervised_flow.py ├── pointcloud_dataset.py ├── sequence_dataset.py ├── var_len_sequence_dataset.py ├── waymo_supervised_flow.py └── waymo_unsupervised_flow.py ├── docker ├── Dockerfile ├── DockerfileTorch2 ├── Dockerfileav2 ├── Dockerfilewaymo └── bashrc ├── launch.sh ├── launch_av2.sh ├── launch_torch2.sh ├── launch_waymo.sh ├── loader_utils ├── __init__.py ├── loaders.py └── results.py ├── model_wrapper.py ├── models ├── __init__.py ├── attention │ ├── __init__.py │ └── attention.py ├── backbones │ ├── __init__.py │ ├── fast_flow_unet.py │ └── feature_pyramid.py ├── chodosh.py ├── embedders │ ├── __init__.py │ ├── embedder_model.py │ ├── make_voxels.py │ ├── process_voxels.py │ └── scatter.py ├── fast_flow_3d.py ├── heads │ ├── __init__.py │ ├── fast_flow_decoder.py │ ├── nsfp.py │ └── nsfp_optimizable.py ├── joint_flow.py ├── nearest_neighbor.py ├── nsfp.py ├── nsfp_baseline │ ├── __init__.py │ ├── model.py │ ├── optimize.py │ └── utils.py └── pretrain.py ├── plot_performance.py ├── pointclouds ├── __init__.py ├── losses │ ├── __init__.py │ └── losses.py ├── pointcloud.py ├── se2.py └── se3.py ├── test_pl.py ├── train_pl.py ├── util_scripts ├── jbackup ├── jhist ├── jlaunch └── jlog └── visualization ├── dataset_count_compute.py ├── dataset_count_vis.py ├── generate_flow_error_plot_data.py ├── visualize_flow_for_figure.py ├── visualize_flow_sequence_stats.py ├── visualize_sequence.py ├── visualize_supervised_flow.py └── visualize_unsupervised_flow.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kylevedder/zeroflow/HEAD/.gitignore -------------------------------------------------------------------------------- /GETTING_STARTED.md: -------------------------------------------------------------------------------- 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