This is the code for our 3DV 2020 paper "Self-Supervised Learning of Non-Rigid Residual Flow and Ego-Motion", a method capable of supervised, hybrid and self-supervised learning of total scene flow from a pairt of point clouds. The code is developed and maintained by Ivan Tishchenko.

[ArXiv] [Video]

If you use this code for your research, please cite our paper:

Self-Supervised Learning of Non-Rigid Residual Flow and Ego-Motion, Ivan Tishchenko, Sandro Lombardi, Martin R. Oswald, Marc Pollefeys, International Conference on 3D Vision (3DV) 2020

@article{tishchenko2020self,
  title={Self-Supervised Learning of Non-Rigid Residual Flow and Ego-Motion},
  author={Tishchenko, Ivan and Lombardi, Sandro and Oswald, Martin R and Pollefeys, Marc},
  journal={arXiv preprint arXiv:2009.10467},
  year={2020}
}

Our model is trained and tested under:

• Ubuntu 18.04
• Conda
• Python 3.6.4
• NVIDIA GPUs, CUDA 10.2, CuDNN 7.6
• PyTorch 1.5
• Numba 0.48
• You may need to install cffi.
• Mayavi for visualization.

We provide our environement in environment.yml. After installing conda run the following commands to reproduce our environment:

conda env create -f environment.yml
conda activate hplfn

Our method works with 3 datasets:

Download and unzip the "Disparity", "Disparity Occlusions", "Disparity change", "Optical flow", "Flow Occlusions" for DispNet/FlowNet2.0 dataset subsets from the FlyingThings3D website (we used the paths from this file, now they added torrent downloads) . They will be upzipped into the same directory, RAW_DATA_PATH. Then run the following script for 3D reconstruction:

python data_preprocess/process_flyingthings3d_subset.py --raw_data_path RAW_DATA_PATH --save_path SAVE_PATH/FlyingThings3D_subset_processed_35m --only_save_near_pts

Next you need to match the camera posees from the full dataset to the subset DispNet/FlowNet2.0. Download the "Camera Data" for the full dataset from FlyingThings3D website. Then execute the following:

tar -xvf flyingthings3d__camera_data.tar
# TAR_EXTRACT_PATH - directory where you extracted flyingthings3d__camera_data.tar
python data_preprocess/process_flyingthings3d_subset.py --poses TAR_EXTRACT_PATH --output SAVE_PATH/FlyingThings3D_subset_processed_35m 

WARNING: some frames in the full dataset are missing the corresponding camera poses. For the list of invalid frames refer to POSE.txt. Our scripts discard these frames during pre-processing.

Download and unzip KITTI Scene Flow Evaluation 2015 to directory RAW_DATA_PATH. Run the following script for 3D reconstruction:

python data_preprocess/process_kitti.py RAW_DATA_PATH SAVE_PATH/KITTI_processed_occ_final

Download ZIPs of all scenes from RefRESH Google doc. Unzip all of the scenes into the same directory, RAW_DATA_PATH. Then run the following script for 3D reconstruction:

python data_preprocess/process_refresh_rigidity.py --raw_data_path RAW_DATA_PATH --save_path SAVE_PATH/REFRESH_pc --only_save_near_pts

Setup:

cd models; python build_khash_cffi.py; cd ..

Set data_root in the configuration file to SAVE_PATH in the data preprocess section. Then run

python main.py configs/train_xxx.yaml

Set data_root in the configuration file to SAVE_PATH in the data preprocess section. Set resume to be the path of your trained model or our trained model in trained_models. Then run

python main.py configs/test_xxx.yaml

Current implementation only supports batch_size=1.

If you set TOTAL_NUM_SAMPLES in evaluation_bnn.py to be larger than 0. Sampled results will be saved in a subdir of your checkpoint directory, VISU_DIR.

Use the following script to visualize:

python visualization.py -d VISU_DIR --relax

The codebase is a fork based on an excellent work HPLFlowNet by Xiuye Gu.