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background/splitted_point_cloud/franka_whole_gs_tsdf_fusion_post_abs.mtl

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background/splitted_point_cloud/franka_whole_gs_tsdf_fusion_post_abs_reduced.obj.mtl

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background/splitted_point_cloud/robot_gs2cad.txt

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background/splitted_point_cloud/table_tsdf_fusion_post_abs.mtl

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background/splitted_point_cloud/table_tsdf_fusion_post_abs_reduced.obj.mtl

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background/splitted_point_cloud/table_tsdf_fusion_post_abs_reduced_coll.obj

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+

object/carrot/config.yml

@@ -0,0 +1,249 @@
+!!python/object:sdfstudio.configs.base_config.Config
+data: null
+experiment_name: null
+logging: !!python/object:sdfstudio.configs.base_config.LoggingConfig
+  enable_profiler: true
+  local_writer: !!python/object:sdfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:sdfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:sdfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:sdfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:sdfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:sdfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:sdfstudio.utils.writer.EventName
+      - Test Rays / Sec
+  max_buffer_size: 20
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:sdfstudio.configs.base_config.MachineConfig
+  dist_url: auto
+  machine_rank: 0
+  num_gpus: 1
+  num_machines: 1
+  seed: 42
+method_name: neus-facto-monodepth
+optimizers:
+  field_background:
+    optimizer: !!python/object:sdfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.0005
+      weight_decay: 0
+    scheduler: !!python/object:sdfstudio.engine.schedulers.NeuSSchedulerConfig
+      _target: &id002 !!python/name:sdfstudio.engine.schedulers.NeuSScheduler ''
+      learning_rate_alpha: 0.05
+      max_steps: 50000
+      warm_up_end: 500
+  fields:
+    optimizer: !!python/object:sdfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.0005
+      weight_decay: 0
+    scheduler: !!python/object:sdfstudio.engine.schedulers.NeuSSchedulerConfig
+      _target: *id002
+      learning_rate_alpha: 0.05
+      max_steps: 50000
+      warm_up_end: 500
+  proposal_networks:
+    optimizer: !!python/object:sdfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.01
+      weight_decay: 0
+    scheduler: !!python/object:sdfstudio.engine.schedulers.MultiStepSchedulerConfig
+      _target: !!python/name:torch.optim.lr_scheduler.MultiStepLR ''
+      max_steps: 50000
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+- carrot-20251029_162919_418
+pipeline: !!python/object:sdfstudio.pipelines.base_pipeline.VanillaPipelineConfig
+  _target: !!python/name:sdfstudio.pipelines.base_pipeline.VanillaPipeline ''
+  datamanager: !!python/object:sdfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:sdfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: !!python/object:sdfstudio.cameras.camera_optimizers.CameraOptimizerConfig
+      _target: !!python/name:sdfstudio.cameras.camera_optimizers.CameraOptimizer ''
+      mode: 'off'
+      optimizer: !!python/object:sdfstudio.engine.optimizers.AdamOptimizerConfig
+        _target: *id001
+        eps: 1.0e-08
+        lr: 6.0e-05
+        weight_decay: 0.01
+      orientation_noise_std: 0.0
+      param_group: camera_opt
+      position_noise_std: 0.0
+      scheduler: !!python/object:sdfstudio.engine.schedulers.SchedulerConfig
+        _target: !!python/name:sdfstudio.engine.schedulers.ExponentialDecaySchedule ''
+        lr_final: 5.0e-06
+        max_steps: 50000
+    camera_res_scale_factor: 1.0
+    dataparser: !!python/object:sdfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig
+      _target: !!python/name:sdfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio ''
+      auto_scale_poses: true
+      center_poses: true
+      data: !!python/object/apply:pathlib.PosixPath
+      - datasets
+      - nerfstudio-data
+      - carrot-20251029_162919_418
+      downscale_factor: 1.0
+      ignore_frame_indices: ''
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_percentage: 0.9
+      use_all_train_images: true
+      use_mask: true
+      use_mono_depth: true
+      use_mono_normal: true
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 2048
+    eval_num_times_to_repeat_images: -1
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 2048
+    train_num_times_to_repeat_images: -1
+  model: !!python/object:sdfstudio.models.neus_facto.NeuSFactoModelConfig
+    _target: !!python/name:sdfstudio.models.neus_facto.NeuSFactoModel ''
+    background_color: black
+    background_model: none
+    base_variance: 64
+    beta_anneal_end: 0.0002
+    beta_anneal_init: 0.05
+    beta_anneal_max_num_iters: 1000000
+    collider_params:
+      far_plane: 6.0
+      near_plane: 2.0
+    curvature_loss_multi: 0.0
+    curvature_loss_warmup_steps: 20000
+    eikonal_loss_mult: 0.01
+    enable_collider: true
+    enable_curvature_loss_schedule: false
+    enable_numerical_gradients_schedule: false
+    enable_progressive_hash_encoding: false
+    eval_num_rays_per_chunk: 2048
+    far_plane: 2.0
+    far_plane_bg: 1000.0
+    fg_mask_loss_mult: 0.1
+    interlevel_loss_mult: 1.0
+    level_init: 4
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    min_patch_variance: 0.01
+    mono_depth_loss_mult: 0.01
+    mono_normal_loss_mult: 0.0
+    near_plane: 0.01
+    num_neus_samples_per_ray: 48
+    num_proposal_iterations: 2
+    num_proposal_samples_per_ray: !!python/tuple
+    - 256
+    - 96
+    num_samples: 64
+    num_samples_importance: 64
+    num_samples_outside: 32
+    num_up_sample_steps: 4
+    overwrite_near_far_plane: true
+    patch_size: 11
+    patch_warp_angle_thres: 0.3
+    patch_warp_loss_mult: 0.0
+    periodic_tvl_mult: 0.0
+    perturb: true
+    proposal_net_args_list:
+    - hidden_dim: 16
+      log2_hashmap_size: 17
+      max_res: 64
+      num_levels: 5
+    - hidden_dim: 16
+      log2_hashmap_size: 17
+      max_res: 256
+      num_levels: 5
+    proposal_update_every: 5
+    proposal_warmup: 5000
+    proposal_weights_anneal_max_num_iters: 1000
+    proposal_weights_anneal_slope: 10.0
+    s3im_kernel_size: 4
+    s3im_loss_mult: 0.0
+    s3im_patch_height: 32
+    s3im_repeat_time: 10
+    s3im_stride: 4
+    scene_contraction_norm: inf
+    sdf_field: !!python/object:sdfstudio.fields.sdf_field.SDFFieldConfig
+      _target: !!python/name:sdfstudio.fields.sdf_field.SDFField ''
+      appearance_embedding_dim: 32
+      base_res: 16
+      beta_init: 0.3
+      bias: 0.3
+      divide_factor: 2.0
+      encoding_type: hash
+      geo_feat_dim: 256
+      geometric_init: true
+      hash_features_per_level: 2
+      hash_smoothstep: true
+      hidden_dim: 256
+      hidden_dim_color: 256
+      inside_outside: false
+      log2_hashmap_size: 19
+      max_res: 2048
+      num_layers: 2
+      num_layers_color: 2
+      num_levels: 16
+      off_axis: false
+      position_encoding_max_degree: 6
+      rgb_padding: 0.001
+      use_appearance_embedding: false
+      use_diffuse_color: false
+      use_grid_feature: true
+      use_n_dot_v: false
+      use_numerical_gradients: false
+      use_position_encoding: true
+      use_reflections: false
+      use_specular_tint: false
+      weight_norm: true
+    sensor_depth_freespace_loss_mult: 0.0
+    sensor_depth_l1_loss_mult: 0.0
+    sensor_depth_sdf_loss_mult: 0.0
+    sensor_depth_truncation: 0.015
+    sparse_points_sdf_loss_mult: 0.0
+    steps_per_level: 10000
+    topk: 4
+    use_anneal_beta: false
+    use_average_appearance_embedding: false
+    use_proposal_weight_anneal: true
+    use_same_proposal_network: false
+    use_single_jitter: true
+specialize_output_dir: true
+timestamp: 2025-10-29_192001
+trainer: !!python/object:sdfstudio.configs.base_config.TrainerConfig
+  accumulate_grad_steps: 1
+  load_config: null
+  load_dir: null
+  load_scheduler: true
+  load_step: null
+  max_num_iterations: 50001
+  mixed_precision: false
+  relative_model_dir: !!python/object/apply:pathlib.PosixPath
+  - sdfstudio_models
+  sanity_check: false
+  save_only_latest_checkpoint: true
+  steps_per_eval_all_images: 1000000
+  steps_per_eval_batch: 5000
+  steps_per_eval_image: 5000
+  steps_per_save: 5000
+viewer: !!python/object:sdfstudio.configs.base_config.ViewerConfig
+  ip_address: 127.0.0.1
+  launch_bridge_server: true
+  max_num_display_images: 512
+  num_rays_per_chunk: 32768
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  start_train: true
+  websocket_port: 7007
+  zmq_port: null
+vis: tensorboard