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DEV-Indoors-hf/configs/dev-indoors.yaml

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+# @package _global_
+
+dataset: 'devindoors'
+
+data:
+  downsample: 1
+  sc_factor: 1
+  translation: 0
+  num_workers: 4
+
+mapping:
+  sample: 2048
+  first_mesh: True
+  iters: 10
+  cur_frame_iters: 0
+  lr_embed: 0.01
+  lr_decoder: 0.01
+  lr_rot: 0.001
+  lr_trans: 0.001
+  keyframe_every: 5
+  map_every: 5
+  n_pixels: 0.05
+  first_iters: 200
+  optim_cur: True
+  min_pixels_cur: 100
+  map_accum_step: 1
+  pose_accum_step: 5
+  map_wait_step: 0
+  filter_depth: False
+
+tracking:
+  iters: 10
+  sample: 1024
+  pc_samples: 40960
+  lr_rot: 0.001
+  lr_trans: 0.001
+  ignore_edge_W: 20
+  ignore_edge_H: 20
+  iter_point: 0
+  wait_iters: 100
+  const_speed: True
+  best: True
+
+grid:
+  enc: 'HashGrid'
+  tcnn_encoding: True
+  hash_size: 16
+  voxel_color: 0.08
+  voxel_sdf: 0.02
+  oneGrid: True
+
+pos:
+  enc: 'OneBlob'
+  n_bins: 16
+
+decoder:
+  geo_feat_dim: 15
+  hidden_dim: 32
+  num_layers: 2
+  num_layers_color: 2
+  hidden_dim_color: 32
+  tcnn_network: False
+  
+  hidden_dim_rgb_crf: 16
+  num_layers_rgb_crf: 2      
+  hidden_dim_event_crf: 16
+  num_layers_event_crf: 2
+  exposure_rgb: 1.0
+  exposure_event: 1.0
+
+cam:
+  H: 768 
+  W: 1024
+  fx: 568.8889160156250000
+  fy: 640.0000000000000000
+  cx: 512.0000000000000000
+  cy: 384.0000000000000000
+  png_depth_scale: 1000. # note that we use exr depth 
+  crop_edge: 0
+  near: 0
+  far: 5
+  depth_trunc: 100.
+
+training:
+  rgb_weight: 5.0
+  depth_weight: 0.1
+  sdf_weight: 1000
+  fs_weight: 10
+  eikonal_weight: 0
+  smooth_weight: 0.000001
+  smooth_pts: 32
+  smooth_vox: 0.1
+  smooth_margin: 0.05
+  #n_samples: 256
+  n_samples_d: 32
+  range_d: 0.1
+  n_range_d: 11
+  n_importance: 0
+  perturb: 1
+  white_bkgd: False
+  trunc: 0.1
+  rot_rep: 'axis_angle'
+  rgb_missing: 0.05
+
+  ev_weight: 0.01
+  ev_missing: 0.005 # * update from 0.05 to 0.005
+  unit_exposure_rgb: 0.5
+  rgbexps_weight: 0.1
+  unit_exposure_event: 0.5
+  exposure_weight_rgb: 0.1
+
+mesh:
+  resolution: 512
+  render_color: False
+  vis: 5000
+  voxel_eval: 0.05
+  voxel_final: 0.01
+  visualisation: False
+  
+debug:
+  show_loss: False

DEV-Indoors-hf/configs/seq001_room_norm.yaml

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+# @package _global_
+
+inherit_from: configs/DEVIndoors/dev-indoors.yaml
+mapping:
+  bound: [[-2.2,2.2],[-3.5,4.2],[-0.2,3]]
+  marching_cubes_bound: [[-2.2,2.2],[-3.5,4.2],[-0.2,3]]
+
+grid:
+  hash_size: 16 # 1.59M
+  
+data:
+  datadir: /home/pjlab/DATA/DEV-Indoors/outputs/seq001_room_norm
+  trainskip: 1
+  chunk_sz: 10
+  output: output/dev-indoors-dev/
+  exp_name: seq001_room_norm

DEV-Indoors-hf/configs/seq002_room_blur.yaml

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+# @package _global_
+
+inherit_from: configs/DEVIndoors/dev-indoors.yaml
+mapping:
+  bound: [[-2.2,2.2],[-3.5,4.2],[-0.2,3]]
+  marching_cubes_bound: [[-2.2,2.2],[-3.5,4.2],[-0.2,3]]
+
+grid:
+  hash_size: 16 # 1.59M
+  
+data:
+  datadir: /home/pjlab/DATA/DEV-Indoors/outputs/seq002_room_blur
+  trainskip: 1
+  chunk_sz: 10
+  output: output/dev-indoors-dev/
+  exp_name: seq002_room_blur

DEV-Indoors-hf/configs/seq003_room_dark.yaml

@@ -0,0 +1,16 @@
+# @package _global_
+
+inherit_from: configs/DEVIndoors/dev-indoors.yaml
+mapping:
+  bound: [[-2.2,2.2],[-3.5,4.2],[-0.2,3]]
+  marching_cubes_bound: [[-2.2,2.2],[-3.5,4.2],[-0.2,3]]
+
+grid:
+  hash_size: 16 # 1.59M
+  
+data:
+  datadir: /home/pjlab/DATA/DEV-Indoors/outputs/seq003_room_dark
+  trainskip: 1
+  chunk_sz: 10
+  output: output/dev-indoors-dev/
+  exp_name: seq003_room_dark

DEV-Indoors-hf/configs/seq004_apartment_norm.yaml

@@ -0,0 +1,19 @@
+# @package _global_
+
+inherit_from: configs/DEVIndoors/dev-indoors.yaml
+mapping:
+  bound: [[-5.6,5.6],[-12.0,4.2],[-0.2,3]]
+  marching_cubes_bound: [[-5.6,5.6],[-12.0,4.2],[-0.2,3]]
+
+  # bound: [[-5,5],[-12.5,4.5],[-0.2,3]]
+  # marching_cubes_bound: [[-5,5],[-12.5,4.5],[-0.2,3]]
+
+grid:
+  hash_size: 16 # 1.59M
+  
+data:
+  datadir: /home/pjlab/DATA/DEV-Indoors/outputs/seq004_apartment_norm
+  trainskip: 1
+  chunk_sz: 10
+  output: output/dev-indoors-dev/
+  exp_name: seq004_apartment_norm

DEV-Indoors-hf/configs/seq005_apartment_blur.yaml

@@ -0,0 +1,19 @@
+# @package _global_
+
+inherit_from: configs/DEVIndoors/dev-indoors.yaml
+mapping:
+  bound: [[-5.6,5.6],[-12.0,4.2],[-0.2,3]]
+  marching_cubes_bound: [[-5.6,5.6],[-12.0,4.2],[-0.2,3]]
+
+  # bound: [[-5,5],[-12.5,4.5],[-0.2,3]]
+  # marching_cubes_bound: [[-5,5],[-12.5,4.5],[-0.2,3]]
+
+grid:
+  hash_size: 16 # 1.59M
+  
+data:
+  datadir: /home/pjlab/DATA/DEV-Indoors/outputs/seq005_apartment_blur
+  trainskip: 1
+  chunk_sz: 10
+  output: output/dev-indoors-dev/
+  exp_name: seq005_apartment_blur

DEV-Indoors-hf/configs/seq006_apartment_dark.yaml

@@ -0,0 +1,16 @@
+# @package _global_
+
+inherit_from: configs/DEVIndoors/dev-indoors.yaml
+mapping:
+  bound: [[-5.6,5.6],[-12.0,4.2],[-0.2,3]]
+  marching_cubes_bound: [[-5.6,5.6],[-12.0,4.2],[-0.2,3]]
+
+grid:
+  hash_size: 16 # 1.59M
+  
+data:
+  datadir: /home/pjlab/DATA/DEV-Indoors/outputs/seq006_apartment_dark
+  trainskip: 1
+  chunk_sz: 10
+  output: output/dev-indoors-dev/
+  exp_name: seq006_apartment_dark

DEV-Indoors-hf/configs/seq007_workshop_norm.yaml

@@ -0,0 +1,16 @@
+# @package _global_
+
+inherit_from: configs/DEVIndoors/dev-indoors.yaml
+mapping:
+  bound: [[-7.5,4],[-3.5,4],[-0.2,3.5]]
+  marching_cubes_bound: [[-7.5,4],[-3.5,4],[-0.2,3.5]]
+
+grid:
+  hash_size: 16 # 1.59M
+  
+data:
+  datadir: /home/pjlab/DATA/DEV-Indoors/outputs/seq007_workshop_norm
+  trainskip: 1
+  chunk_sz: 10
+  output: output/dev-indoors-dev/
+  exp_name: seq007_workshop_norm

DEV-Indoors-hf/configs/seq008_workshop_blur.yaml

@@ -0,0 +1,16 @@
+# @package _global_
+
+inherit_from: configs/DEVIndoors/dev-indoors.yaml
+mapping:
+  bound: [[-7.5,4],[-3.5,4],[-0.2,3.5]]
+  marching_cubes_bound: [[-7.5,4],[-3.5,4],[-0.2,3.5]]
+
+grid:
+  hash_size: 16 # 1.59M
+  
+data:
+  datadir: /home/pjlab/DATA/DEV-Indoors/outputs/seq008_workshop_blur
+  trainskip: 1
+  chunk_sz: 10
+  output: output/dev-indoors-dev/
+  exp_name: seq008_workshop_blur

DEV-Indoors-hf/configs/seq009_workshop_dark.yaml

@@ -0,0 +1,16 @@
+# @package _global_
+
+inherit_from: configs/DEVIndoors/dev-indoors.yaml
+mapping:
+  bound: [[-7.5,4],[-3.5,4],[-0.2,3.5]]
+  marching_cubes_bound: [[-7.5,4],[-3.5,4],[-0.2,3.5]]
+
+grid:
+  hash_size: 16 # 1.59M
+  
+data:
+  datadir: /home/pjlab/DATA/DEV-Indoors/outputs/seq009_workshop_dark
+  trainskip: 1
+  chunk_sz: 10
+  output: output/dev-indoors-dev/
+  exp_name: seq009_workshop_dark

DEV-Indoors-hf/groundtruth/apartment/apartment.tar.gz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:444acf22dbe0a456eddb689cd8bf804478bfc57045ebea8151ee0087ba61b0e5
+size 145858998

DEV-Indoors-hf/groundtruth/apartment/depth.tar.gz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffdade48176a6889eb8a4fa8c2ab511ab8b7c9245026b0c3c228f66ac44d7389
+size 1689997119

DEV-Indoors-hf/groundtruth/apartment/depth_mm.tar.gz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38964f1aa216c8ccb76cad8897648b545cd9a1e4356edd50e9ebad13a0c31dfb
+size 118236443

DEV-Indoors-hf/groundtruth/apartment/rgb.tar.gz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5a33eaf8bd1b359c8d4dffddd0a3f1af922388f11729b2d80cfd4284b3c7f4e
+size 886356230

DEV-Indoors-hf/groundtruth/room/depth.tar.gz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:097f8b8cd4b2de386b02d5feaabb859b77205c0bfd9c03e24a4ab0650d48a64b
+size 2279393318

DEV-Indoors-hf/groundtruth/room/depth_mm.tar.gz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e8632b42daa027d1c8868fdb75e1145d1ede04e78f785c077a53a62585c6385
+size 151840437

DEV-Indoors-hf/groundtruth/room/pose/pose.txt

@@ -0,0 +1,1001 @@
+# TUM format ground truth pose, timestamp x y z q_x q_y q_z q_w
+0000 -0.277009 1.850531 1.183227 0.497123 -0.489356 -0.502777 0.510505
+0001 -0.277009 1.850531 1.183227 0.508085 -0.483410 -0.491496 0.516330
+0002 -0.277009 1.850531 1.183227 0.514424 -0.478028 -0.484757 0.521409
+0003 -0.277009 1.850531 1.183227 0.522148 -0.475123 -0.476793 0.523726
+0004 -0.277009 1.850531 1.183227 0.533840 -0.473145 -0.464971 0.524358
+0005 -0.277009 1.850531 1.183227 0.551653 -0.476197 -0.447585 0.518250
+0006 -0.277009 1.850531 1.183227 0.588256 -0.481523 -0.411644 0.502633
+0007 -0.277009 1.850531 1.183227 0.607608 -0.485534 -0.392499 0.490931
+0008 -0.277009 1.850531 1.183227 0.625372 -0.491740 -0.374629 0.476188
+0009 -0.277009 1.850531 1.183227 0.641492 -0.497667 -0.357964 0.461169
+0010 -0.277009 1.850531 1.183227 0.653773 -0.499026 -0.345246 0.452061
+0011 -0.277009 1.850531 1.183227 0.675966 -0.502113 -0.321760 0.432924
+0012 -0.277009 1.850531 1.183227 0.686435 -0.504339 -0.310300 0.422094
+0013 -0.170647 1.884307 1.241703 0.701778 -0.507186 -0.293149 0.405380
+0014 -0.102699 1.906934 1.283982 0.712276 -0.509123 -0.281082 0.393000
+0015 -0.036271 1.929914 1.329130 0.721538 -0.510066 -0.270382 0.382243
+0016 0.059286 1.964625 1.401962 0.741394 -0.512555 -0.246434 0.356219
+0017 0.119347 1.987538 1.454607 0.750940 -0.513374 -0.234533 0.342826
+0018 0.149772 1.999379 1.482901 0.766813 -0.509637 -0.216101 0.324911
+0019 0.150184 2.002977 1.482901 0.775000 -0.506354 -0.206934 0.316480
+0020 0.150571 2.006360 1.482901 0.785566 -0.501606 -0.195103 0.305306
+0021 0.150934 2.009535 1.482901 0.799246 -0.492852 -0.180643 0.292696
+0022 0.151275 2.012509 1.482901 0.808802 -0.481385 -0.172878 0.290209
+0023 0.151593 2.015287 1.482901 0.839771 -0.436431 -0.149052 0.286522
+0024 0.151889 2.017878 1.482901 0.853354 -0.416881 -0.137525 0.281219
+0025 0.152165 2.020286 1.482901 0.866996 -0.391679 -0.126949 0.280695
+0026 0.152420 2.022520 1.482901 0.883448 -0.359399 -0.113387 0.278380
+0027 0.152657 2.024585 1.482901 0.900424 -0.327061 -0.098043 0.269545
+0028 0.152875 2.026488 1.482901 0.942042 -0.238167 -0.058039 0.229053
+0029 0.153075 2.028236 1.482901 0.961288 -0.186224 -0.038748 0.199361
+0030 0.153258 2.029835 1.482901 0.973825 -0.138842 -0.025525 0.178147
+0031 0.153425 2.031293 1.482901 0.985212 -0.059651 -0.009831 0.160317
+0032 0.153576 2.032614 1.482901 0.988159 -0.013197 -0.002165 0.152847
+0033 0.153712 2.033808 1.482901 0.987645 0.028179 0.004273 0.154096
+0034 0.153835 2.034878 1.482901 0.986524 0.042365 0.006656 0.157894
+0035 0.153944 2.035833 1.482901 0.984876 0.061682 0.009997 0.161602
+0036 0.154041 2.036679 1.482901 0.980268 0.101447 0.017341 0.168767
+0037 0.154126 2.037423 1.482901 0.977576 0.119308 0.020898 0.172262
+0038 0.154200 2.038070 1.482901 0.972165 0.148464 0.027240 0.179195
+0039 0.154264 2.038629 1.482901 0.969457 0.162361 0.030241 0.181323
+0040 0.154319 2.039105 1.482901 0.967210 0.171107 0.032573 0.184839
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+0054 0.154512 2.040797 1.482901 0.824245 0.411452 0.173624 0.348111
+0055 0.154516 2.040827 1.482901 0.810963 0.416826 0.187584 0.365250
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+0059 0.154564 2.041245 1.482901 0.765622 0.412709 0.234020 0.434430
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DEV-Indoors-hf/seq001_room_norm/rgb.tar.gz

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DEV-Indoors-hf/seq001_room_norm/seq001_room_norm.yaml

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+bound: [[-2.2,2.2],[-3.5,4.2],[-0.2,3]]
+marching_cubes_bound: [[-2.2,2.2],[-3.5,4.2],[-0.2,3]]

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DEV-Indoors-hf/seq002_room_blur/depth_mm.tar.gz

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DEV-Indoors-hf/seq002_room_blur/event.tar.gz

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DEV-Indoors-hf/seq002_room_blur/pose/pose.txt

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DEV-Indoors-hf/seq002_room_blur/rgb.tar.gz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9b5966305f4105fc3c074316cfaffe924e15908f3044b2e35425854fe819ff11
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DEV-Indoors-hf/seq002_room_blur/seq002_room_blur.yaml

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+# @package _global_
+
+bound: [[-2.2,2.2],[-3.5,4.2],[-0.2,3]]
+marching_cubes_bound: [[-2.2,2.2],[-3.5,4.2],[-0.2,3]]

DEV-Indoors-hf/seq003_room_dark/depth.tar.gz

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+size 3067037026

DEV-Indoors-hf/seq003_room_dark/depth_mm.tar.gz

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+version https://git-lfs.github.com/spec/v1
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DEV-Indoors-hf/seq003_room_dark/event.tar.gz

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+version https://git-lfs.github.com/spec/v1
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DEV-Indoors-hf/seq003_room_dark/pose/pose.txt

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+# TUM format ground truth pose, timestamp x y z q_x q_y q_z q_w
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