release

.gitignore

@@ -1,4 +1,135 @@
-.DS_Store
-._.DS_Store
-**/.DS_Store
-**/._.DS_Store
+# Byte-compiled / optimized / DLL files
+__pycache__/
+.history
+exp/
+*.py[cod]
+*$py.class
+# C extensions
+*.so
+external/build
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+wandb/
+*.blend1
+*.tar.*
+*.zip
+*.svg
+sacred/
+artifacts/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# Datasets
+data/
+logs/
+
+.idea
+

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "external/LoFTR"]
+	path = external/LoFTR
+	url = git@github.com:zju3dv/LoFTR.git

config/release/config.yml

@@ -0,0 +1,131 @@
+n_step: 4000
+netdepth: 8
+netwidth: 256
+netdepth_fine: 8
+netwidth_fine: 256
+N_rand: 2048         # Batch number of rays
+first_frame_ray_in_batch: 0
+lrate: 0.01
+lrate_pose: 0.01
+pose_optimize_start: 0
+decay_rate: 0.1
+chunk: 5000099999
+netchunk: 655360
+render_chunk: 2048
+no_batching: 0
+amp: true
+
+train_modes: ['ray', 'occ']
+
+use_gt_joint_type: false
+
+share_motion: true
+
+use_full_sdf: true
+sdf_voxel_size: 0.01
+occ_voxel_dilate: 0.03
+occ_sample_space: 200000
+
+sdf_to_occ_thresh: 0.01
+
+vis_discount: 0.5
+
+correspondence_name: correspondence_loftr/no_filter
+
+train_corr_n_step: 1
+freeze_recon_step: 2000
+
+N_samples: 128     #number of coarse samples per ray
+N_samples_around_depth: 64
+N_importance: 0
+N_importance_iter: 1
+perturb: 1
+
+use_viewdirs: 1
+multires: 8     #log2 of max freq for positional encoding (3D location)
+multires_views: 3    #log2 of max freq for positional encoding (2D direction)
+feature_grid_dim: 2
+feature_vol_dim: 20
+feature_vol_res: 50
+
+# logging/saving options
+i_print: 100
+i_wandb: 100
+i_img: 5000
+i_weights: 500
+i_mesh: 500
+save_octree_clouds: true
+
+finest_res: 256
+base_res: 16
+num_levels: 12
+log2_hashmap_size: 22
+use_octree: 1
+first_frame_weight: 10
+default_frame_weight: 1.0
+denoise_depth_use_octree_cloud: false
+octree_embed_base_voxel_size: 0.02
+octree_smallest_voxel_size: 0.02        # This determines the smallest feature vox size
+octree_raytracing_voxel_size: 0.02
+octree_dilate_size: 0.04           # meters
+down_scale_ratio: 1
+bounding_box:
+- - -1
+  - -1
+  - -1
+- - 1
+  - 1
+  - 1
+farthest_pose_sampling: 0    # Sampling train images. This replace uniform skip
+use_mask: 1
+dilate_mask_size: 0
+rays_valid_depth_only: true
+near: 0.1
+far: 10
+
+loss_weights:
+  self_rgb: 10
+  self_freespace: 100
+  self_empty: 1
+  self_sdf: 6000
+  corr: 500.0
+  ray_cns_rgb: 0.1
+  ray_cns_sdf: 10
+  ray_collision_occ: 50
+  occ_cns_occ: 5
+  occ_collision_occ: 50
+
+loss_schedule:
+  corr: 2000
+  occ_cns_occ: 2500
+  occ_collision_occ: 2500
+  ray_collision_occ: 2500
+
+trunc: 0.03   #length of the truncation region in meters
+sdf_weight_trunc: 0.03
+sdf_weight_cutoff: 0.05
+sdf_weight_neg_clamp: 0.5
+sdf_lambda: 5
+neg_trunc_ratio: 1      # -trunc distance ratio compared to +trunc
+sdf_loss_type: l2
+
+fs_sdf: 0.001   # Uncertain free space
+mesh_resolution: 0.01
+max_trans: 0.02         # meters
+max_rot: 20         # deg
+
+
+######### dbscan
+dbscan_eps: 0.06
+dbscan_eps_min_samples: 1
+
+###### movingparts
+
+slot_num: 2
+slot_hard: soft_gumbel
+empty_slot_weight: 0.0001
+
+use_gt_transform: false
+
+no_wandb: false
+