Monocular Structure from Motion Implementation

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Code base for implementation of Structure from Motion (SFM)

Prepare Train Data:

python3 data/prepare_train_data.py /home/aniket/WPI/DR_3DOD/kitti_raw --dump-root /home/aniket/WPI/DR_3DOD/kitti_dump --with-depth --with-pose --static-frame /home/aniket/WPI/DR_3DOD/codes/sfml/data/static_frames.txt

Train Command:

python3 train.py /home/aniket/WPI/DR_3DOD/kitti_dump -b4 -m0.2 -s0.1 --epoch-size 3000 --sequence-length 3

python3 data/prepare_train_data.py /root/datasets/kitti_raw --dump-root /root/datasets/kitti_dump --with-depth --with-pose --static-frame /root/codes/sfml/data/static_frames.txt

• pebble
• path
• imageio
• scikit-image
• tqdm
• pyyaml

Docker Commands

newgrp docker

docker run hello-world

docker ps -a (shows all running containers)

docker images

docker rm i [imageID]

docker rm [containerID]

docker pull pytorch/pytorch:latest

docker run -it pytorch/pytorch:latest

sudo apt-get install -y nvidia-docker2

sudo systemctl restart docker

sudo docker run --rm --gpus all nvidia/cuda:11.0.3-base-ubuntu20.04 nvidia-smi

docker run -it --rm --gpus all pytorch/pytorch:latest

docker run -it --rm --gpus all -v /home/pear_group/aniket:/root/pytorch/pytorch:latest