docs(env): update dataprocess env

* mkl for av2 torch
* remove open3d since it cause hard conflict.
* remove evalai...
* update README with typo.

Author: Kin-Zhang

Dockerfile

@@ -30,5 +30,5 @@ WORKDIR /home/kin/workspace/OpenSceneFlow
 RUN apt-get update && apt-get install libgl1 -y
 # need read the gpu device info to compile the cuda extension
 RUN cd /home/kin/workspace/OpenSceneFlow && /opt/conda/bin/mamba env create -f environment.yaml
-RUN cd /home/kin/workspace/OpenSceneFlow/assets/cuda/mmcv && /opt/conda/envs/opensf/bin/python ./setup.py install
-RUN cd /home/kin/workspace/OpenSceneFlow/assets/cuda/chamfer3D && /opt/conda/envs/opensf/bin/python ./setup.py install
+# environment for dataprocessing inlucdes data-api
+RUN cd /home/kin/workspace/OpenSceneFlow && /opt/conda/bin/mamba env create -f envsftool.yaml

README.md

@@ -32,15 +32,15 @@ International Conference on Robotics and Automation (**ICRA**) 2024
 [ Backbone ] [ Supervised ] - [ [arXiv](https://arxiv.org/abs/2401.16122) ] [ [Project](https://github.com/KTH-RPL/DeFlow) ] → [here](#deflow)
 
 🎁 <b>One repository, All methods!</b> 
-Additionally, *OpenSceneFlow* integrates following excellent works: [ICLR'24 ZeroFlow](https://arxiv.org/abs/2305.10424), [ICCV'23 FastNSF](https://arxiv.org/abs/2304.09121), [RA-L'21 FastFlow](https://arxiv.org/abs/2103.01306), [NeurIPS'21 NSFP](https://arxiv.org/abs/2111.01253). (More on the way...)
+Additionally, *OpenSceneFlow* integrates following excellent works: [ICLR'24 ZeroFlow](https://arxiv.org/abs/2305.10424), [ICCV'23 FastNSF](https://arxiv.org/abs/2304.09121), [RA-L'21 FastFlow3D](https://arxiv.org/abs/2103.01306), [NeurIPS'21 NSFP](https://arxiv.org/abs/2111.01253). (More on the way...)
 
 <details> <summary> Summary of them:</summary>
 
-- [x] [FastFlow3d](https://arxiv.org/abs/2103.01306): RA-L 2021, a basic backbone model.
+- [x] [FastFlow3D](https://arxiv.org/abs/2103.01306): RA-L 2021, a basic backbone model.
 - [x] [ZeroFlow](https://arxiv.org/abs/2305.10424): ICLR 2024, their pre-trained weight can covert into our format easily through [the script](tools/zerof2ours.py).
 - [ ] [NSFP](https://arxiv.org/abs/2111.01253): NeurIPS 2021, faster 3x than original version because of [our CUDA speed up](assets/cuda/README.md), same (slightly better) performance. Done coding, public after review.
-- [ ] [FastNSF](https://arxiv.org/abs/2304.09121): ICCV 2023. Done coding, public after review.
-- [ ] [ICP-Flow](https://arxiv.org/abs/2402.17351): CVPR 2024. Done coding, public after review.
+- [ ] [FastNSF](https://arxiv.org/abs/2304.09121): ICCV 2023. SSL optimization-based. Done coding, public after review.
+- [ ] [ICP-Flow](https://arxiv.org/abs/2402.17351): CVPR 2024. SSL optimization-based. Done coding, public after review.
 
 </details>
 

dataprocess/README.md

@@ -12,7 +12,7 @@ We've updated the process dataset for:
 - [x] Waymo: check [here](#waymo-dataset). The process script was involved from [SeFlow](https://github.com/KTH-RPL/SeFlow).
 - [ ] nuScenes: done coding, public after review. Will be involved later by another paper.
 
-If you want to use all datasets above, there is a specific process environment in [envsftool.yaml](../envsftool.yaml) to install all the necessary packages. As Waymo package have different configuration and conflict with the main environment. Setup through the following command:
+If you want to **use all datasets above**, there is a **specific environment** in [envsftool.yaml](../envsftool.yaml) to install all the necessary packages. As Waymo package have different configuration and conflict with the main environment. Setup through the following command:
 
 ```bash
 conda env create -f envsftool.yaml
@@ -90,16 +90,16 @@ gsutil -m cp -r "gs://waymo_open_dataset_scene_flow/valid" .
 gsutil -m cp -r "gs://waymo_open_dataset_scene_flow/train" .
 ```
 
-And flowlabel data can be downloaded here with ground segmentation by HDMap follow the same style of [ZeroFlow](https://github.com/kylevedder/zeroflow/blob/master/data_prep_scripts/waymo/extract_flow_and_remove_ground.py).
-
-You can download the processed map folder here to free yourself downloaded another type of data again:
+For ground segmentation, we follow the same style of [ZeroFlow](https://github.com/kylevedder/zeroflow/blob/master/data_prep_scripts/waymo/extract_flow_and_remove_ground.py) to have HDMap. You can download the processed map by running:
 
 ```bash
 wget https://huggingface.co/kin-zhang/OpenSceneFlow/resolve/main/waymo_map.tar.gz
 tar -xvf waymo_map.tar.gz -C /home/kin/data/waymo/flowlabel
 # you will see there is a `map` folder in the `flowlabel` folder now.
 ```
 
+<!-- Another way to have ground mask is to use [linefit](https://github.com/Kin-Zhang/linefit) to generate the ground mask without effort. -->
+
 #### Dataset frames
 
 | Dataset | # Total Scene | # Total Frames |

dataprocess/extract_waymo.py

@@ -405,7 +405,7 @@ def process_logs(data_dir: Path, map_dir: Path, output_dir: Path, nproc: int):
 
 def main(
     flow_data_dir: str = "/home/kin/data/waymo/flowlabel",
-    mode: str = "test",
+    mode: str = "valid",
     map_dir: str = "/home/kin/data/waymo/flowlabel/map",
     output_dir: str ="/home/kin/data/waymo/flowlabel/preprocess",
     nproc: int = (multiprocessing.cpu_count() - 1),

envsftool.yaml

@@ -6,6 +6,7 @@ dependencies:
   - python=3.8
   - pytorch::pytorch=2.0.0
   - pytorch::torchvision
+  - mkl==2024.0.0
   - numba
   - numpy==1.22
   - pandas
@@ -20,13 +21,11 @@ dependencies:
     - nuscenes-devkit
     - av2==0.2.1
     - waymo-open-dataset-tf-2.11.0==1.5.0
-    - open3d==0.18.0
     - linefit
     - dztimer
     - dufomap==1.0.0
-    - evalai
 
 # Reason about the version fixed:
 # numpy==1.22: package conflicts, need numpy higher or same 1.22
-# open3d==0.18.0: because 0.17.0 have bug on set the view json file
-# dufomap==1.0.0: in case later updating may not compatible with the code.
+# dufomap==1.0.0: in case later updating may not compatible with the code.
+# Pleaase check dataprocess/README.md for more details.