Vehicle-cpp/hkpc/vision/references/optical_flow

Optical flow reference training scripts

This folder contains reference training scripts for optical flow. They serve as a log of how to train specific models, so as to provide baseline training and evaluation scripts to quickly bootstrap research.

RAFT Large

The RAFT large model was trained on Flying Chairs and then on Flying Things. Both used 8 A100 GPUs and a batch size of 2 (so effective batch size is 16). The rest of the hyper-parameters are exactly the same as the original RAFT training recipe from https://github.com/princeton-vl/RAFT. The original recipe trains for 100000 updates (or steps) on each dataset - this corresponds to about 72 and 20 epochs on Chairs and Things respectively:

num_epochs = ceil(num_steps / number_of_steps_per_epoch)
           = ceil(num_steps / (num_samples / effective_batch_size))

torchrun --nproc_per_node 8 --nnodes 1 train.py \
    --dataset-root $dataset_root \
    --name $name_chairs \
    --model raft_large \
    --train-dataset chairs \
    --batch-size 2 \
    --lr 0.0004 \
    --weight-decay 0.0001 \
    --epochs 72 \
    --output-dir $chairs_dir

torchrun --nproc_per_node 8 --nnodes 1 train.py \
    --dataset-root $dataset_root \
    --name $name_things \
    --model raft_large \
    --train-dataset things \
    --batch-size 2 \
    --lr 0.000125 \
    --weight-decay 0.0001 \
    --epochs 20 \
    --freeze-batch-norm \
    --output-dir $things_dir\
    --resume $chairs_dir/$name_chairs.pth

Evaluation

torchrun --nproc_per_node 1 --nnodes 1 train.py --val-dataset sintel --batch-size 1 --dataset-root $dataset_root --model raft_large --weights Raft_Large_Weights.C_T_SKHT_V2

This should give an epe of about 1.3822 on the clean pass and 2.7161 on the final pass of Sintel-train. Results may vary slightly depending on the batch size and the number of GPUs. For the most accurate results use 1 GPU and --batch-size 1:

Sintel val clean epe: 1.3822	1px: 0.9028	3px: 0.9573	5px: 0.9697	per_image_epe: 1.3822	f1: 4.0248
Sintel val final epe: 2.7161	1px: 0.8528	3px: 0.9204	5px: 0.9392	per_image_epe: 2.7161	f1: 7.5964

You can also evaluate on Kitti train:

torchrun --nproc_per_node 1 --nnodes 1 train.py --val-dataset kitti --batch-size 1 --dataset-root $dataset_root --model raft_large --weights Raft_Large_Weights.C_T_SKHT_V2
Kitti val epe: 4.7968	1px: 0.6388	3px: 0.8197	5px: 0.8661	per_image_epe: 4.5118	f1: 16.0679