diff --git a/DEV-Indoors-hf/configs/dev-indoors.yaml b/DEV-Indoors-hf/configs/dev-indoors.yaml new file mode 100644 index 0000000000000000000000000000000000000000..820d522f6254fd7802c7a81a20c420f8837a8394 --- /dev/null +++ b/DEV-Indoors-hf/configs/dev-indoors.yaml @@ -0,0 +1,121 @@ +# @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 \ No newline at end of file diff --git a/DEV-Indoors-hf/configs/seq001_room_norm.yaml b/DEV-Indoors-hf/configs/seq001_room_norm.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95686d6f45d9411d7c4dd74affc883233270d663 --- /dev/null +++ b/DEV-Indoors-hf/configs/seq001_room_norm.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/seq001_room_norm + trainskip: 1 + chunk_sz: 10 + output: output/dev-indoors-dev/ + exp_name: seq001_room_norm diff --git a/DEV-Indoors-hf/configs/seq002_room_blur.yaml b/DEV-Indoors-hf/configs/seq002_room_blur.yaml new file mode 100644 index 0000000000000000000000000000000000000000..492a5f441bf46074c57237cbf162a1a8e4ca009b --- /dev/null +++ b/DEV-Indoors-hf/configs/seq002_room_blur.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/seq002_room_blur + trainskip: 1 + chunk_sz: 10 + output: output/dev-indoors-dev/ + exp_name: seq002_room_blur diff --git a/DEV-Indoors-hf/configs/seq003_room_dark.yaml b/DEV-Indoors-hf/configs/seq003_room_dark.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7223fd5915d211094836bb4f43ea03a70aa06166 --- /dev/null +++ b/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 diff --git a/DEV-Indoors-hf/configs/seq004_apartment_norm.yaml b/DEV-Indoors-hf/configs/seq004_apartment_norm.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9df3be72f4d4dacebe96ece9b8c2bf50a721253b --- /dev/null +++ b/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 diff --git a/DEV-Indoors-hf/configs/seq005_apartment_blur.yaml b/DEV-Indoors-hf/configs/seq005_apartment_blur.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b77b5d4ef3263d524afba6177cdc371096aa6211 --- /dev/null +++ b/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 diff --git a/DEV-Indoors-hf/configs/seq006_apartment_dark.yaml b/DEV-Indoors-hf/configs/seq006_apartment_dark.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6369ac4a6bc0f7e8f6d9162521a6a0901a680214 --- /dev/null +++ b/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 diff --git a/DEV-Indoors-hf/configs/seq007_workshop_norm.yaml b/DEV-Indoors-hf/configs/seq007_workshop_norm.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c8b4fc874cc891617195a16f53fb6cb4ce164068 --- /dev/null +++ b/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 diff --git a/DEV-Indoors-hf/configs/seq008_workshop_blur.yaml b/DEV-Indoors-hf/configs/seq008_workshop_blur.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f516bccd9354a98c97c06651554dcec0429dcd1b --- /dev/null +++ b/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 diff --git a/DEV-Indoors-hf/configs/seq009_workshop_dark.yaml b/DEV-Indoors-hf/configs/seq009_workshop_dark.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dc72f378accf7d371b958ff015f7d7ec45689f21 --- /dev/null +++ b/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 diff --git a/DEV-Indoors-hf/groundtruth/apartment/apartment.tar.gz b/DEV-Indoors-hf/groundtruth/apartment/apartment.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..97bcdc00a5763aa00df6d95c1697763d0685fbab --- /dev/null +++ b/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 diff --git a/DEV-Indoors-hf/groundtruth/apartment/depth.tar.gz b/DEV-Indoors-hf/groundtruth/apartment/depth.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..6758b629221c24b111fcf7045b5d65aa6713ec2f --- /dev/null +++ b/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 diff --git a/DEV-Indoors-hf/groundtruth/apartment/depth_mm.tar.gz b/DEV-Indoors-hf/groundtruth/apartment/depth_mm.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..a4d621f21652b0869294bbdf6de6277eb5bdcad1 --- /dev/null +++ b/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 diff --git a/DEV-Indoors-hf/groundtruth/apartment/pose/pose.txt b/DEV-Indoors-hf/groundtruth/apartment/pose/pose.txt new file mode 100644 index 0000000000000000000000000000000000000000..d6147e9d439cf03a04a17678b9a0db0fefda98b3 --- /dev/null +++ b/DEV-Indoors-hf/groundtruth/apartment/pose/pose.txt @@ -0,0 +1,2001 @@ +# TUM format ground truth pose, timestamp x y z q_x q_y q_z q_w +0000 -3.374263 -4.982220 1.284240 0.381990 -0.546854 -0.611307 0.425837 +0001 -3.374263 -4.982220 1.284240 0.383980 -0.546651 -0.609475 0.426934 +0002 -3.374263 -4.982220 1.284240 0.384695 -0.546148 -0.608916 0.427731 +0003 -3.374263 -4.982220 1.284240 0.385408 -0.546241 -0.608219 0.427962 +0004 -3.374263 -4.982220 1.284240 0.385969 -0.546440 -0.607641 0.428022 +0005 -3.374263 -4.982220 1.284240 0.386144 -0.546316 -0.607505 0.428217 +0006 -3.374263 -4.982220 1.284240 0.386250 -0.546242 -0.607422 0.428334 +0007 -3.374263 -4.982220 1.284240 0.386304 -0.546203 -0.607379 0.428394 +0008 -3.374263 -4.982220 1.284240 0.386324 -0.546189 -0.607364 0.428416 +0009 -3.374263 -4.982220 1.284240 0.386327 -0.546187 -0.607361 0.428420 +0010 -3.374263 -4.982220 1.284240 0.386330 -0.546185 -0.607359 0.428423 +0011 -3.402297 -5.060896 1.284240 0.386349 -0.546171 -0.607344 0.428445 +0012 -3.430210 -5.139232 1.284240 0.386404 -0.546132 -0.607300 0.428506 +0013 -3.430171 -5.141737 1.284237 0.386510 -0.546058 -0.607218 0.428623 +0014 -3.429893 -5.143255 1.284218 0.386684 -0.545934 -0.607081 0.428817 +0015 -3.429139 -5.144035 1.284164 0.390515 -0.546785 -0.603250 0.429667 +0016 -3.427672 -5.144323 1.284061 0.395219 -0.545788 -0.598998 0.432572 +0017 -3.425252 -5.144364 1.283889 0.405340 -0.543137 -0.589872 0.439036 +0018 -3.421643 -5.144404 1.283634 0.409465 -0.541241 -0.586279 0.442351 +0019 -3.416606 -5.144692 1.283278 0.413458 -0.540617 -0.582542 0.444333 +0020 -3.409903 -5.145472 1.282803 0.418158 -0.539415 -0.578211 0.447042 +0021 -3.401296 -5.146991 1.282194 0.418626 -0.539052 -0.577823 0.447544 +0022 -3.390548 -5.149495 1.281433 0.418780 -0.538932 -0.577695 0.447709 +0023 -3.309240 -5.170534 1.275679 0.418864 -0.538867 -0.577626 0.447799 +0024 -3.229371 -5.190978 1.270031 0.419092 -0.538690 -0.577436 0.448043 +0025 -3.186861 -5.201859 1.267025 0.419568 -0.538319 -0.577040 0.448554 +0026 -3.186973 -5.206411 1.267025 0.421679 -0.536667 -0.575274 0.450816 +0027 -3.187754 -5.210203 1.267025 0.428067 -0.530356 -0.570019 0.458868 +0028 -3.189875 -5.219495 1.267025 0.433597 -0.525845 -0.565183 0.464812 +0029 -3.194005 -5.240542 1.267025 0.439079 -0.521276 -0.560284 0.470704 +0030 -3.213950 -5.364007 1.267025 0.447927 -0.512420 -0.552236 0.481478 +0031 -3.224904 -5.446605 1.267025 0.451937 -0.508887 -0.548439 0.485800 +0032 -3.239118 -5.570976 1.267025 0.456581 -0.504725 -0.543965 0.490804 +0033 -3.247208 -5.654564 1.267025 0.459874 -0.501727 -0.540741 0.494353 +0034 -3.254215 -5.737049 1.267025 0.462494 -0.499313 -0.538146 0.497177 +0035 -3.263233 -5.862091 1.267025 0.465751 -0.496276 -0.534881 0.500688 +0036 -3.268529 -5.945263 1.267025 0.467683 -0.493134 -0.532899 0.504093 +0037 -3.274408 -6.069395 1.267025 0.471515 -0.488136 -0.528897 0.509573 +0038 -3.277018 -6.153356 1.267025 0.475968 -0.483795 -0.524206 0.514397 +0039 -3.278287 -6.236764 1.267025 0.479124 -0.480670 -0.520829 0.517816 +0040 -3.278006 -6.361946 1.267025 0.484131 -0.475628 -0.515378 0.523241 +0041 -3.276220 -6.445663 1.267025 0.490315 -0.469250 -0.508486 0.529942 +0042 -3.269223 -6.571624 1.267025 0.502430 -0.456255 -0.494440 0.543070 +0043 -3.260621 -6.653399 1.267025 0.510706 -0.446972 -0.484405 0.552039 +0044 -3.248811 -6.736062 1.267025 0.521996 -0.436732 -0.470861 0.561316 +0045 -3.224718 -6.858632 1.267025 0.534906 -0.420821 -0.453750 0.575235 +0046 -3.202728 -6.946842 1.267025 0.540533 -0.407210 -0.443743 0.587449 +0047 -3.169687 -7.059796 1.267025 0.545295 -0.394251 -0.434195 0.598911 +0048 -3.143226 -7.139023 1.267025 0.547811 -0.387398 -0.428916 0.604861 +0049 -3.115200 -7.217420 1.267025 0.550540 -0.381808 -0.423856 0.609487 +0050 -3.071090 -7.333977 1.267025 0.552532 -0.378921 -0.420659 0.611697 +0051 -3.040859 -7.412302 1.267025 0.554508 -0.376023 -0.417451 0.613891 +0052 -2.993935 -7.528290 1.267025 0.559382 -0.368733 -0.409381 0.619302 +0053 -2.960839 -7.605229 1.267025 0.562261 -0.364329 -0.404504 0.622498 +0054 -2.926782 -7.680845 1.267025 0.564633 -0.360641 -0.400421 0.625132 +0055 -2.871140 -7.799903 1.267025 0.567448 -0.356196 -0.395500 0.628257 +0056 -2.837623 -7.869109 1.267025 0.568842 -0.353965 -0.393030 0.629805 +0057 -2.782041 -7.981414 1.267025 0.570687 -0.350983 -0.389728 0.631854 +0058 -2.744517 -8.055685 1.267025 0.571146 -0.350236 -0.388901 0.632363 +0059 -2.706513 -8.130415 1.267025 0.572517 -0.347991 -0.386415 0.633885 +0060 -2.648999 -8.241448 1.267025 0.572972 -0.347241 -0.385585 0.634390 +0061 -2.610427 -8.315596 1.267025 0.573026 -0.347152 -0.385487 0.634450 +0062 -2.610442 -8.315568 1.267025 0.573125 -0.346988 -0.385305 0.634560 +0063 -2.610546 -8.315372 1.267025 0.573426 -0.346491 -0.384755 0.634894 +0064 -2.610827 -8.314842 1.267025 0.573878 -0.345741 -0.383924 0.635397 +0065 -2.611374 -8.313810 1.267025 0.574710 -0.346243 -0.383471 0.634645 +0066 -2.612277 -8.312108 1.267025 0.574936 -0.345867 -0.383056 0.634896 +0067 -2.613623 -8.309568 1.267025 0.575162 -0.345491 -0.382640 0.635146 +0068 -2.615502 -8.306026 1.267025 0.575128 -0.345548 -0.382703 0.635108 +0069 -2.618002 -8.301310 1.267025 0.575033 -0.345707 -0.382879 0.635002 +0070 -2.621212 -8.295255 1.267025 0.574887 -0.345949 -0.383146 0.634841 +0071 -2.625221 -8.287693 1.267025 0.574703 -0.346255 -0.383484 0.634637 +0072 -2.630118 -8.278458 1.267025 0.574491 -0.346606 -0.383872 0.634402 +0073 -2.668981 -8.205163 1.267025 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0.560387 0.074067 0.106952 0.817950 +1996 -0.108788 -3.658727 1.399295 0.567088 0.063642 0.090455 0.816198 +1997 -0.108757 -3.658259 1.399244 0.570536 0.061754 0.087004 0.814313 +1998 -0.108720 -3.657866 1.399206 0.571761 0.060370 0.084791 0.813791 +1999 -0.108676 -3.657531 1.399179 0.573135 0.057479 0.080451 0.813474 diff --git a/DEV-Indoors-hf/groundtruth/apartment/rgb.tar.gz b/DEV-Indoors-hf/groundtruth/apartment/rgb.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..4a2d499bb3ebdf749f06350bea9a3330ad9fe8c7 --- /dev/null +++ b/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 diff --git a/DEV-Indoors-hf/groundtruth/room/depth.tar.gz b/DEV-Indoors-hf/groundtruth/room/depth.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..65f0707747542f2998938bee3a7c7fb809909100 --- /dev/null +++ b/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 diff --git a/DEV-Indoors-hf/groundtruth/room/depth_mm.tar.gz b/DEV-Indoors-hf/groundtruth/room/depth_mm.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..d5599747ed3da13cf173b1abda6c0d7b17cba9e8 --- /dev/null +++ b/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 diff --git a/DEV-Indoors-hf/groundtruth/room/pose/pose.txt b/DEV-Indoors-hf/groundtruth/room/pose/pose.txt new file mode 100644 index 0000000000000000000000000000000000000000..917913a257e19f70065ff9022a5326067c0912d6 --- /dev/null +++ b/DEV-Indoors-hf/groundtruth/room/pose/pose.txt @@ -0,0 +1,1001 @@ +# TUM format ground truth pose, timestamp x y z q_x 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a/DEV-Indoors-hf/groundtruth/room/room.tar.gz b/DEV-Indoors-hf/groundtruth/room/room.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..406e61197b768c75866b23b9c141009a49c61907 --- /dev/null +++ b/DEV-Indoors-hf/groundtruth/room/room.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50932e35e2ec66813811da72b14cf2dae4c229ae981de2738ae6d615a11689c5 +size 83940052 diff --git a/DEV-Indoors-hf/groundtruth/workshop/depth.tar.gz b/DEV-Indoors-hf/groundtruth/workshop/depth.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..6fa9c634f367c0962163fcd592c131387a155818 --- /dev/null +++ b/DEV-Indoors-hf/groundtruth/workshop/depth.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80d1a97e0f1d14063394236ee1b0dbe496e4e3c59fdba351b26925d80c62aade +size 3960327647 diff --git a/DEV-Indoors-hf/groundtruth/workshop/depth_mm.tar.gz b/DEV-Indoors-hf/groundtruth/workshop/depth_mm.tar.gz new file mode 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100644 index 0000000000000000000000000000000000000000..f12372645561b6567e8f8db53fec96fe18a36112 --- /dev/null +++ b/DEV-Indoors-hf/seq001_room_norm/rgb.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ffdecc055ada91896b1c12549970eb1b2b2f537c4b715958e5f3bb06f617261 +size 1427043848 diff --git a/DEV-Indoors-hf/seq001_room_norm/seq001_room_norm.yaml b/DEV-Indoors-hf/seq001_room_norm/seq001_room_norm.yaml new file mode 100644 index 0000000000000000000000000000000000000000..86cddd54f560afaf0758182b9f9c2fd0abb65dc1 --- /dev/null +++ b/DEV-Indoors-hf/seq001_room_norm/seq001_room_norm.yaml @@ -0,0 +1,4 @@ +# @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]] diff --git a/DEV-Indoors-hf/seq001_room_norm/timestamps.txt b/DEV-Indoors-hf/seq001_room_norm/timestamps.txt new file mode 100644 index 0000000000000000000000000000000000000000..4819f450ddde977345430cc0d1bd13e77137d865 --- /dev/null +++ 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https://git-lfs.github.com/spec/v1 +oid sha256:ad6f423300b2c6cacba155126d42b31fb06927eb5323c55de2a98a341336342a +size 534622125 diff --git a/DEV-Indoors-hf/seq004_apartment_norm/event.tar.gz b/DEV-Indoors-hf/seq004_apartment_norm/event.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..6b2a6078714d7892195fa0daadd948596df6e385 --- /dev/null +++ b/DEV-Indoors-hf/seq004_apartment_norm/event.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68fed3c4803fd0b5117708e0ea7f6dc19276da551d07422a372f9fa6be5f2292 +size 17763182558 diff --git a/DEV-Indoors-hf/seq004_apartment_norm/pose/pose.txt b/DEV-Indoors-hf/seq004_apartment_norm/pose/pose.txt new file mode 100644 index 0000000000000000000000000000000000000000..b5c6a22d9b428ba1cae058871dffe524a22d0dd1 --- /dev/null +++ b/DEV-Indoors-hf/seq004_apartment_norm/pose/pose.txt @@ -0,0 +1,3001 @@ +# TUM format ground truth pose, timestamp x y z q_x q_y q_z q_w +0000 -0.902088 0.181625 1.186995 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@@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5872e17692a13004f20d473916dcca6649cf3ffaad78507f05f566787f894044 +size 9117500780 diff --git a/DEV-Indoors-hf/seq005_apartment_blur/depth_mm.tar.gz b/DEV-Indoors-hf/seq005_apartment_blur/depth_mm.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..fefbb7e754701770eebd230b8b55527b215c6993 --- /dev/null +++ b/DEV-Indoors-hf/seq005_apartment_blur/depth_mm.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8c35c5b0bd1d00573f53086e27495bf9190a5ffb8f10362d89d4dcde7839c84 +size 2194257606 diff --git a/DEV-Indoors-hf/seq005_apartment_blur/event.tar.gz b/DEV-Indoors-hf/seq005_apartment_blur/event.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..1f76a7560888fdff4f78fdb1df54a5d9362db2c5 --- /dev/null +++ b/DEV-Indoors-hf/seq005_apartment_blur/event.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a97c0fb0fbb52796a2b3342d8d43dcb6f060cd0cd6e3d8e0b998b3d344de5198 +size 17763012708 diff --git a/DEV-Indoors-hf/seq005_apartment_blur/pose/pose.txt b/DEV-Indoors-hf/seq005_apartment_blur/pose/pose.txt new file mode 100644 index 0000000000000000000000000000000000000000..b5c6a22d9b428ba1cae058871dffe524a22d0dd1 --- /dev/null +++ b/DEV-Indoors-hf/seq005_apartment_blur/pose/pose.txt @@ -0,0 +1,3001 @@ +# TUM format ground truth pose, timestamp x y z q_x q_y q_z q_w +0000 -0.902088 0.181625 1.186995 0.499227 -0.508358 -0.501263 0.491000 +0001 -0.898050 0.026653 1.186379 0.499227 -0.508358 -0.501263 0.491000 +0002 -0.894626 -0.094540 1.185855 0.499227 -0.508358 -0.501263 0.491000 +0003 -0.891747 -0.176824 1.185409 0.497696 -0.501277 -0.502939 0.498068 +0004 -0.888015 -0.270120 1.184827 0.496481 -0.495720 -0.504129 0.503610 +0005 -0.883693 -0.358321 1.184142 0.495728 -0.491905 -0.504793 0.507412 +0006 -0.878553 -0.445996 1.183314 0.494927 -0.487544 -0.505421 0.511759 +0007 -0.872540 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0000000000000000000000000000000000000000..c40182a50593f12bff3d8d480c976dcc44036a60 --- /dev/null +++ b/DEV-Indoors-hf/seq005_apartment_blur/rgb.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79353cc71516b22eb11b4e774ddf88851c3a6e4f2eaee66a0a541688217cba3c +size 2485917998 diff --git a/DEV-Indoors-hf/seq005_apartment_blur/seq005_apartment_blur.yaml b/DEV-Indoors-hf/seq005_apartment_blur/seq005_apartment_blur.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e648c08d24de2ed226cee030f455c73fe154b281 --- /dev/null +++ b/DEV-Indoors-hf/seq005_apartment_blur/seq005_apartment_blur.yaml @@ -0,0 +1,4 @@ +# @package _global_ + +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]] diff --git a/DEV-Indoors-hf/seq005_apartment_blur/timestamps.txt b/DEV-Indoors-hf/seq005_apartment_blur/timestamps.txt new file mode 100644 index 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sha256:0f006b21fe908aeb68f21c6a6e2232bec20ddaf639c3173e3f7c62edf6d79b7f +size 534594211 diff --git a/DEV-Indoors-hf/seq006_apartment_dark/event.tar.gz b/DEV-Indoors-hf/seq006_apartment_dark/event.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..6a3a6e23d2ff90959ed55279d7fd85519f12f290 --- /dev/null +++ b/DEV-Indoors-hf/seq006_apartment_dark/event.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a1c473342630af9aab7a6a8bd88dd8fc3fa13bb601b0dbaf6eab6f939674af3 +size 17763016074 diff --git a/DEV-Indoors-hf/seq006_apartment_dark/pose/pose.txt b/DEV-Indoors-hf/seq006_apartment_dark/pose/pose.txt new file mode 100644 index 0000000000000000000000000000000000000000..b5c6a22d9b428ba1cae058871dffe524a22d0dd1 --- /dev/null +++ b/DEV-Indoors-hf/seq006_apartment_dark/pose/pose.txt @@ -0,0 +1,3001 @@ +# TUM format ground truth pose, timestamp x y z q_x q_y q_z q_w +0000 -0.902088 0.181625 1.186995 0.499227 -0.508358 -0.501263 0.491000 +0001 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+version https://git-lfs.github.com/spec/v1 +oid sha256:9acfa2f4b1cee820aa1e392a81b28f34faf44b1d6eabacbc1c37b2851dfba817 +size 3281473061 diff --git a/DEV-Indoors-hf/seq007_workshop_norm/depth_mm.tar.gz b/DEV-Indoors-hf/seq007_workshop_norm/depth_mm.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..d238bed6bd50cf6f514437daf0532d856f2ce956 --- /dev/null +++ b/DEV-Indoors-hf/seq007_workshop_norm/depth_mm.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5681f19022c080b48875f03ff76d2afc2196da948aab8bcf253447cf7fecc6b4 +size 205607005 diff --git a/DEV-Indoors-hf/seq007_workshop_norm/event.tar.gz b/DEV-Indoors-hf/seq007_workshop_norm/event.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..926146ea0913387f379b21da8c1329cc26d34fbe --- /dev/null +++ b/DEV-Indoors-hf/seq007_workshop_norm/event.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2476b15c10e118ce69062070a2999143d4358c3b15853d1d6443e714b645aeae +size 8328748980 diff --git a/DEV-Indoors-hf/seq007_workshop_norm/pose/pose.txt b/DEV-Indoors-hf/seq007_workshop_norm/pose/pose.txt new file mode 100644 index 0000000000000000000000000000000000000000..3a1bef5b45d51b2365e777d06e75c19b9e965728 --- /dev/null +++ b/DEV-Indoors-hf/seq007_workshop_norm/pose/pose.txt @@ -0,0 +1,1801 @@ +# TUM format ground truth pose, timestamp x y z q_x q_y q_z q_w +0000 -4.537738 1.714449 0.738565 0.704293 -0.006227 -0.006381 0.709853 +0001 -4.420648 1.712340 0.738565 0.704293 -0.006227 -0.006381 0.709853 +0002 -4.328053 1.710647 0.738565 0.704293 -0.006227 -0.006381 0.709853 +0003 -4.263016 1.709405 0.738565 0.704293 -0.006227 -0.006381 0.709853 +0004 -4.187387 1.707915 0.738565 0.704293 -0.006227 -0.006381 0.709853 +0005 -4.112627 1.706366 0.738565 0.704293 -0.006227 -0.006381 0.709853 +0006 -4.034692 1.704669 0.738565 0.704293 -0.006227 -0.006381 0.709853 +0007 -3.954444 1.702819 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a/DEV-Indoors-hf/seq008_workshop_blur/seq008_workshop_blur.yaml b/DEV-Indoors-hf/seq008_workshop_blur/seq008_workshop_blur.yaml new file mode 100644 index 0000000000000000000000000000000000000000..57b56dd900c4a7bb585cacd022c5a3a105836cb6 --- /dev/null +++ b/DEV-Indoors-hf/seq008_workshop_blur/seq008_workshop_blur.yaml @@ -0,0 +1,4 @@ +# @package _global_ + +bound: [[-7.5,4],[-3.5,4],[-0.2,3.5]] +marching_cubes_bound: [[-7.5,4],[-3.5,4],[-0.2,3.5]] diff --git a/DEV-Indoors-hf/seq008_workshop_blur/timestamps.txt b/DEV-Indoors-hf/seq008_workshop_blur/timestamps.txt new file mode 100644 index 0000000000000000000000000000000000000000..739d31d30a3513df93fb491d8dd535ac4b812327 --- /dev/null +++ b/DEV-Indoors-hf/seq008_workshop_blur/timestamps.txt @@ -0,0 +1,120253 @@ +0.0 +0.0003125 +0.000625 +0.0009375 +0.00125 +0.0015625 +0.001875 +0.0021875 +0.0025 +0.0028125 +0.003125 +0.0034375 +0.00375 +0.0040625 +0.004375 +0.004687500000000001 +0.005 +0.0053124999999999995 +0.005625 +0.0059375 +0.00625 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0.00967812, 0.99992174, -0.01120438, + 0.0, 0.0, 0.0, 1.0] + +adsampler: + enable_tracking: True + enable_mapping: True + h: 32 + w: 32 + h_evcam: 32 + w_evcam: 32 + pad_ratio: 0. + +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 + + # TODO: Ablation + second_mesh: True + second_mapping: True + use_ev: True + +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 + # TODO: Ablation + use_ev: 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 + +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: 16 + 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 + # TODO: Ablation + use_crf: True + + +mesh: + resolution: 512 + render_color: False + vis: 5000 + voxel_eval: 0.05 + voxel_final: 0.02 + visualisation: False + +debug: + show_loss: False \ No newline at end of file diff --git a/Dev-Reals-hf/configs/enslamdata1.yaml b/Dev-Reals-hf/configs/enslamdata1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0c35e86270085e91f36f13582b83d3091ea55277 --- /dev/null +++ b/Dev-Reals-hf/configs/enslamdata1.yaml @@ -0,0 +1,15 @@ +# @package _global_ +inherit_from: configs/DEVReals/devreals.yaml +mapping: + bound: [[-1.5,3.5],[-2.5,1.5],[-1,5.5]] + marching_cubes_bound: ${mapping.bound} + +grid: + hash_size: 16 # 1.59M + +data: + datadir: /home/pjlab/DATA/DEV-Reals/enslamdata1 + trainskip: 1 + chunk_sz: 10 + output: output/dev-reals/ + exp_name: enslamdata1 \ No newline at end of file diff --git a/Dev-Reals-hf/configs/enslamdata2.yaml b/Dev-Reals-hf/configs/enslamdata2.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8a8f2bb577380b9a44bef2ec78efa8c28f9b5cd2 --- /dev/null +++ b/Dev-Reals-hf/configs/enslamdata2.yaml @@ -0,0 +1,15 @@ +# @package _global_ +inherit_from: configs/DEVReals/devreals.yaml +mapping: + bound: [[-1.5,4.0],[-2.5,2],[-1.5,5.5]] + marching_cubes_bound: ${mapping.bound} + +grid: + hash_size: 16 # 1.59M + +data: + datadir: /home/pjlab/DATA/DEV-Reals/enslamdata2 + trainskip: 1 + chunk_sz: 10 + output: output/dev-reals/ + exp_name: enslamdata2 \ No newline at end of file diff --git a/Dev-Reals-hf/configs/enslamdata3.yaml b/Dev-Reals-hf/configs/enslamdata3.yaml new file mode 100644 index 0000000000000000000000000000000000000000..29187262105fe76e64c628fb96e9b9620f2dc352 --- /dev/null +++ b/Dev-Reals-hf/configs/enslamdata3.yaml @@ -0,0 +1,15 @@ +# @package _global_ +inherit_from: configs/DEVReals/devreals.yaml +mapping: + bound: [[-2,3],[-2,2],[-4,4.5]] + marching_cubes_bound: ${mapping.bound} + +grid: + hash_size: 16 # 1.59M + +data: + datadir: /home/pjlab/DATA/DEV-Reals/enslamdata3 + trainskip: 1 + chunk_sz: 10 + output: output/dev-reals/ + exp_name: enslamdata3 diff --git a/Dev-Reals-hf/configs/enslamdata4.yaml b/Dev-Reals-hf/configs/enslamdata4.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b69f03dd4ef45c27c9274a4aa2ac77f1559a7319 --- /dev/null +++ b/Dev-Reals-hf/configs/enslamdata4.yaml @@ -0,0 +1,15 @@ +# @package _global_ +inherit_from: configs/DEVReals/devreals.yaml +mapping: + bound: [[-2,3],[-2,2],[-4,4.5]] + marching_cubes_bound: ${mapping.bound} + +grid: + hash_size: 16 # 1.59M + +data: + datadir: /home/pjlab/DATA/DEV-Reals/enslamdata4 + trainskip: 1 + chunk_sz: 10 + output: output/dev-reals/ + exp_name: enslamdata4 \ No newline at end of file diff --git a/Dev-Reals-hf/configs/enslamdata5.yaml b/Dev-Reals-hf/configs/enslamdata5.yaml new file mode 100644 index 0000000000000000000000000000000000000000..38e4eb7df37289a0ff05416ac59dbddad6e4f2d6 --- /dev/null +++ b/Dev-Reals-hf/configs/enslamdata5.yaml @@ -0,0 +1,15 @@ +# @package _global_ +inherit_from: configs/DEVReals/devreals.yaml +mapping: + bound: [[-1.5,3],[-2,2],[-2,2]] + marching_cubes_bound: ${mapping.bound} + +grid: + hash_size: 16 # 1.59M + +data: + datadir: /home/pjlab/DATA/DEV-Reals/enslamdata5 + trainskip: 1 + chunk_sz: 10 + output: output/dev-reals/ + exp_name: enslamdata5 \ No newline at end of file diff --git a/Dev-Reals-hf/configs/enslamdata6.yaml b/Dev-Reals-hf/configs/enslamdata6.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3a08a635a813e14c2e2e8fb34c8178a067909d3a --- /dev/null +++ b/Dev-Reals-hf/configs/enslamdata6.yaml @@ -0,0 +1,15 @@ +# @package _global_ +inherit_from: configs/DEVReals/devreals.yaml +mapping: + bound: [[-3,3],[-2,2],[-3,3]] + marching_cubes_bound: ${mapping.bound} + +grid: + hash_size: 16 # 1.59M + +data: + datadir: /home/pjlab/DATA/DEV-Reals/enslamdata6 + trainskip: 1 + chunk_sz: 10 + output: output/dev-reals/ + exp_name: enslamdata6 \ No newline at end of file diff --git a/Dev-Reals-hf/configs/enslamdata7.yaml b/Dev-Reals-hf/configs/enslamdata7.yaml new file mode 100644 index 0000000000000000000000000000000000000000..45f4fe434863c050c89df6f8e279310373d87d4f --- /dev/null +++ b/Dev-Reals-hf/configs/enslamdata7.yaml @@ -0,0 +1,15 @@ +# @package _global_ +inherit_from: configs/DEVReals/devreals.yaml +mapping: + bound: [[-2,4.5],[-3,1.5],[0,5.5]] + marching_cubes_bound: ${mapping.bound} + +grid: + hash_size: 16 # 1.59M + +data: + datadir: /home/pjlab/DATA/DEV-Reals/enslamdata7 + trainskip: 1 + chunk_sz: 10 + output: output/dev-reals/ + exp_name: enslamdata7 \ No newline at end of file diff --git a/Dev-Reals-hf/configs/enslamdata8.yaml b/Dev-Reals-hf/configs/enslamdata8.yaml new file mode 100644 index 0000000000000000000000000000000000000000..690319d2c2d0a95ae298324bfc4497498626ad9a --- /dev/null +++ b/Dev-Reals-hf/configs/enslamdata8.yaml @@ -0,0 +1,15 @@ +# @package _global_ +inherit_from: configs/DEVReals/devreals.yaml +mapping: + bound: [[-5,3],[-1.5,4],[0,5.5]] + marching_cubes_bound: ${mapping.bound} + +grid: + hash_size: 16 # 1.59M + +data: + 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