AANet

• Original code: https://github.com/haofeixu/aanet at 8d0d747e69bb
• Code licence: Apache-2.0 (permissive); files: LICENSE
• Weights licence: Apache-2.0 (assumed from code)
• Licence evidence: https://github.com/haofeixu/aanet/blob/8d0d747e69bbdba43e2578b60ad7df63ba7fdac2/LICENSE
• Training data: Freiburg SceneFlow (FlyingThings3D, Driving, Monkaa)
• Kernel libraries: deform_conv, igev, cutlass_conv, cudnn_hacc
• Variants: aanet-sceneflow, aanet-plus-sceneflow
• Outputs: disparity
• Input size:
  • aanet-sceneflow: any H x W >= 48, padded to a multiple of 48
  • aanet-plus-sceneflow: any H x W >= 96, padded to a multiple of 96
• Tested up to (portable, fp16, RTX 5060 Ti 16 GB): aanet-sceneflow 3000x4000 (9.4 GiB peak allocated, 12.5 reserved); aanet-plus-sceneflow 1024x2048 (7.1 GiB peak allocated, 8.1 reserved)
• aanet-sceneflow 994x1482, first call: portable + torch.compile 80 s (cold Inductor cache), TensorRT fp16 211 s (ONNX + engine).
• aanet-sceneflow original (fp32) 994x1482: deformable conv via torchvision.ops.deform_conv2d (original CUDA extension not built)
• aanet-sceneflow original 994x1482: torch.autocast(fp16) around the forward; deformable conv via torchvision.ops.deform_conv2d (original CUDA extension not built)
• aanet-plus-sceneflow original (fp32) 994x1482: deformable conv via torchvision.ops.deform_conv2d (original CUDA extension not built)
• aanet-plus-sceneflow original 994x1482: torch.autocast(fp16) around the forward; deformable conv via torchvision.ops.deform_conv2d (original CUDA extension not built)
• aanet-sceneflow load / first call: original 0.12 s / 0.067 s (375x1242), portable 0.19 s / 0.143† s, kernels 0.27† s / 0.101† s
• aanet-plus-sceneflow load / first call: original 0.15 s / 0.701 s (375x1242), portable 0.16 s / 0.166† s, kernels 0.2† s / 0.09† s
• † measured in the speed sweep after the portable load (or an earlier size) in the same process: file cache and kernels are warm, so the time is lower than a fresh start.
• Protocol, median of 5 after 3 warm-up, uint8 CUDA input (synthetic for bench_inputs sizes), card defaults; gc before each load; peak = max over the first call and the timed calls

Measured

Original = the original code named under Details, same checkpoint and protocol.

Measured on NVIDIA GeForce RTX 5060 Ti, torch 2.14.1+cu130, fastforks 468fba10, 2026-11-05.

Parity

CPU, float32: max |diff| <= 0.002 vs the original. GPU, float16 (the default), portable and kernels: mean |diff| <= 0.02 px and p99 <= 0.25 px.

Limitations

• Only the SceneFlow checkpoints of AANet and AANet+ are included; the original code's KITTI fine-tunes are not.
• At 375x1242 AANet is launch-bound: portable is about as fast as the original code. At 994x1482 portable is faster but allocates more memory.