VLM-traversability-KTH/vlm-traversability-final

DD2600 Integration

Run all commands from the Codebase project root.

Setup

conda create -n DD2600_integration python=3.11.17 -y
conda activate DD2600_integration
SAM2_BUILD_CUDA=0 python -m pip install -r dd2600/Integration/requirements.txt

Place the depth, SAM2 and YOLO model checkpoints in their module checkpoint directories. CLIP downloads its weights on first use if they are not cached.

Run the Pipeline

The default input is inputs/dataset/newdata_ARK. Each sequence must contain RGB images/, frames.csv, ARKit camera data in parameters/, and video/wide.mp4.

Preview the commands without running models:

python dd2600/Integration/run_pipeline.py --sequence 0002 --dry-run

Run a complete sequence using a separate output root:

python dd2600/Integration/run_pipeline.py --sequence 0002 --output-root outputs/pipeline_run

Run only the first 12 frames:

python dd2600/Integration/run_pipeline.py --sequence 0002 --max-frames 12 --output-root outputs/pipeline_test

Use --input to select another ARKit dataset root and --sequence to select its video folder. The default output root is outputs. Existing module outputs stop a full rerun; select a fresh output root to avoid mixing results.

When upstream results already exist, run planning only:

python -m dd2600.planning.code --input inputs/dataset/newdata_ARK --sequence 0002

If those results use a custom output root, pass it to planning with --outputs-root.

Module Responsibilities

Module	Function
Depth	Predicts depth and estimates terrain slope using camera intrinsics and ARKit gravity.
SAG tracking	Segments and propagates regions with SAM2, and tracks YOLO targets with forward and backward propagation.
Traversability	Uses CLIP to classify tracked regions and generates terrain visualizations.
Planning	Combines terrain and slope costs, runs A*, and exports path visualizations as video and GIF.
Integration	Prepares camera geometry, runs depth and SAG in parallel, starts traversability after SAG, then runs planning after both branches finish.

Output Layout

<output-root>/
  depth_out/<dataset>/<sequence>_out/
  sag_out/<dataset>/<sequence>_out/
  tranverse_out/<dataset>/<sequence>_out/
  planning_out/<dataset>_out/<sequence>_out/

<dataset> is the input dataset folder name. Final planning videos and GIFs are stored in the sequence's videos/ folder.