Bucketed Scene Flow Evaluation
Project description
Bucketed Scene Flow Evaluation
This repo provides the official implementation of Bucket Normalized EPE, as described in our paper I Can't Believe It's Not Scene Flow!
This repo provides:
- A speed and class aware evaluation protocol called Bucket Normalized EPE. See our paper for more details.
- A standardized interface for working with Scene Flow datasets.
- Evaulation infrastructure for the Argoverse 2 2024 Scene Flow Challenge.
Currently supported datasets:
- Argoverse 2 (Human Labeled and NSFP Pseudolabeled)
- Waymo Open (LiDAR only)
- NuScenes (LiDAR only, beta)
If you use this repository as part of a publication, please cite:
@misc{khatri2024trackflow,
author = {Khatri, Ishan and Vedder, Kyle and Peri, Neehar and Ramanan, Deva and Hays, James},
title = {I Can't Believe It's Not Scene Flow!},
journal = {arXiv},
eprint = {2403.04739},
year = {2024},
pdf = {https://arxiv.org/abs/2403.04739}
}
Installation
pip install bucketed-scene-flow-eval
Setup
Follow our Getting Started for setup instructions.
Demo
We provide a demo script which shows off the various features of the API.
Argoverse 2:
To render the lidar and multiple camera views of an Argoverse 2 sequence in 3D, run:
python scripts/demo_3d.py --dataset Argoverse2CausalSceneFlow --root_dir /efs/argoverse2/val/ --with_rgb --sequence_length 4
To render RGB frames with lidar imposed on top, run:
python scripts/demo_rgb.py --dataset Argoverse2SceneFlow --mode project_lidar --reduction_factor 16 --root_dir /efs/argoverse2/val --sequence_length 150 --save_dir /efs/av2_camera_render/
To render the flow field of an Argoverse 2 sequence, run:
python scripts/demo_rgb.py --dataset Argoverse2SceneFlow --mode project_flow --reduction_factor 16 --root_dir /efs/argoverse2/val --sequence_length 150 --save_dir /efs/av2_camera_render/ --flow_dir <path to method flow output>
Waymo Open:
python scripts/demo.py --dataset WaymoOpenSceneFlow --root_dir /efs/waymo_open_processed_flow/validation/
Evaluating AV2 flow submissions
To evaluate an AV2 Scene Flow challenge entry named ./submission_val.zip
against validation dataset masks /efs/argoverse2/val_official_masks.zip
, run
python scripts/av2_eval.py /efs/argoverse2/val /efs/argoverse2/val_official_masks.zip ./submission_val.zip
Documentation
See docs/
for more documentation .
Project details
Release history Release notifications | RSS feed
Download files
Download the file for your platform. If you're not sure which to choose, learn more about installing packages.
Source Distribution
Built Distribution
Hashes for bucketed_scene_flow_eval-2.0.9.tar.gz
Algorithm | Hash digest | |
---|---|---|
SHA256 | 7eded1a3c3f70b2d4017b107dc106a8d34ab6ae5240cca2e50e29d9b280fc54e |
|
MD5 | 01ed2d27d21a0bdc2a3f62fe8df5ac2c |
|
BLAKE2b-256 | 7301c00563a01ac705eb865c2c22856053647dbbc14f702c19c809da7b9710cf |
Hashes for bucketed_scene_flow_eval-2.0.9-py3-none-any.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 8ad9e754bf0a5ca60d056300f05507cfa8cbdf3f14b163809653805c10e5e9ca |
|
MD5 | d39142fda9f59342d7e4a21216191cc2 |
|
BLAKE2b-256 | ba651039ec6809c574612ae675a0afac0248f0167e6be2aa9ec1227da4e9997d |