How to use this code

Model weights

Model weights for all trained methods (FastFlow3D and ZeroFlow) and their ablations are provided in their own GitHub repo.

File system assumptions

To set up the file system, follow the Getting Started guide for BucketedSceneFlowEval. This will set up the Argoverse 2 and Waymo Open datasets in the correct format.

Docker Images

This project provides a docker image for training and evaluation using the Docerkfile in docker/Dockerfile [dockerhub]. The launch script ./launch.sh will start the docker container with the correct mounts and environment variables.

These mounts are

-v `pwd`:/project

runs pwd inside the script, getting the current directory, and ensures that it's mounted as /project inside the container.

The /efs/ mounts are for the Argoverse 2 and Waymo Open datasets. You must link Argoverse 2 so that inside the container it appears at /efs/argoverse2 and Waymo Open so that inside the container it appears at /efs/waymo_open_processed_flow. If you have these datasets in a different location, you can modify the /efs mount in launch.sh to point to the correct location.

Setting up the base system

The base system must have driver support for CUDA 11.3+ (you do not actually need CUDA installed on your base system, but you do need a driver version that supports the container install) and NVidia Docker installed.