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@@ -476,3 +476,15 @@ carla_map.ply filter=lfs diff=lfs merge=lfs -text
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carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_132924/config.yml

@@ -0,0 +1,260 @@
+!!python/object:nerfstudio.engine.trainer.TrainerConfig
+_target: !!python/name:nerfstudio.engine.trainer.Trainer ''
+data: &id003 !!python/object/apply:pathlib.PosixPath
+- /
+- home
+- docker_dev
+- silvr
+- data
+- carla_lidar_sky
+- submap_0.json
+experiment_name: carla_lidar
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 5001
+method_name: bayes-lidar-normal-nerfacto
+mixed_precision: true
+optimizers:
+  camera_opt:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.0006
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler ''
+      lr_final: 0.0001
+      lr_pre_warmup: 1.0e-08
+      max_steps: 5000
+      ramp: cosine
+      warmup_steps: 0
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: *id002
+      lr_final: 0.0001
+      lr_pre_warmup: 1.0e-08
+      max_steps: 200000
+      ramp: cosine
+      warmup_steps: 0
+  proposal_networks:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: *id002
+      lr_final: 0.0001
+      lr_pre_warmup: 1.0e-08
+      max_steps: 200000
+      ramp: cosine
+      warmup_steps: 0
+output_dir: !!python/object/apply:pathlib.PosixPath
+- /
+- home
+- docker_dev
+- silvr
+- data
+- carla
+- tro-results
+pipeline: !!python/object:silvr.silvr_pipeline.SiLVRPipelineConfig
+  _target: !!python/name:silvr.silvr_pipeline.SiLVRPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/object/apply:_operator.getitem
+    - !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    - !!python/name:silvr.lidar_dataset.LidarDepthNormalDataset ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id003
+    dataparser: !!python/object:silvr.silvr_dataparser.LidarDepthNormalDataParserConfig
+      _target: !!python/name:silvr.silvr_dataparser.LidarDepthNormalDataParser ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath []
+      depth_unit_scale_factor: 0.00390625
+      downscale_factor: null
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: false
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: 100
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PairPixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PairPixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      radius: 2
+      rejection_sample_mask: true
+    train_num_images_to_sample_from: 500
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  model: !!python/object:silvr.models.bayes_lidar_normal_nerfacto.BayesLidarNormalNerfactoModelConfig
+    _target: !!python/name:silvr.models.bayes_lidar_normal_nerfacto.BayesLidarNormalNerfactoModel ''
+    appearance_embed_dim: 32
+    average_init_density: 1.0
+    background_color: last_sample
+    base_res: 16
+    camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig
+      _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer ''
+      mode: 'off'
+      optimizer: null
+      rot_l2_penalty: 0.001
+      scheduler: null
+      trans_l2_penalty: 0.01
+    collider_params:
+      far_plane: 6.0
+      near_plane: 2.0
+    compute_normals: false
+    dataparser_scale: null
+    depth_encoding: 0.00390625
+    depth_loss_mult: 10.0
+    depth_loss_type: !!python/object/apply:nerfstudio.model_components.losses.DepthLossType
+    - 1
+    depth_sigma: 0.001
+    disable_scene_contraction: false
+    distortion_loss_mult: 0.002
+    enable_collider: true
+    eval_num_rays_per_chunk: 32768
+    far_plane: 1000.0
+    features_per_level: 2
+    filter_out_point: true
+    filter_point_thresh: 0.1
+    hidden_dim: 64
+    hidden_dim_color: 64
+    hidden_dim_transient: 64
+    implementation: tcnn
+    interlevel_loss_mult: 1.0
+    is_euclidean_depth: false
+    lidar_depth_loss_type: !!python/object/apply:silvr.loss.LidarDepthLossType
+    - 3
+    log2_hashmap_size: 19
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_log_uncertainty: 6
+    max_res: 2048
+    min_log_uncertainty: -3
+    near_plane: 0.05
+    normal_loss_mult: 0.001
+    num_levels: 16
+    num_nerf_samples_per_ray: 48
+    num_proposal_iterations: 2
+    num_proposal_samples_per_ray: !!python/tuple
+    - 256
+    - 96
+    orientation_loss_mult: 0.0001
+    pred_normal_loss_mult: 0.001
+    predict_normals: false
+    prompt: null
+    proposal_initial_sampler: piecewise
+    proposal_net_args_list:
+    - hidden_dim: 16
+      log2_hashmap_size: 17
+      max_res: 128
+      num_levels: 5
+      use_linear: false
+    - hidden_dim: 16
+      log2_hashmap_size: 17
+      max_res: 256
+      num_levels: 5
+      use_linear: false
+    proposal_update_every: 5
+    proposal_warmup: 5000
+    proposal_weights_anneal_max_num_iters: 1000
+    proposal_weights_anneal_slope: 10.0
+    ray_num: 4096000
+    save_pcd: false
+    save_pcd_folder: pcd
+    should_decay_sigma: true
+    sigma_decay_rate: 0.99985
+    sky_depth_meter: 250
+    starting_depth_sigma: 0.01
+    use_appearance_embedding: true
+    use_average_appearance_embedding: true
+    use_gradient_scaling: false
+    use_legacy_log_unc: false
+    use_proposal_weight_anneal: true
+    use_same_proposal_network: false
+    use_single_jitter: true
+project_name: nerfstudio-project
+prompt: null
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 70000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 2000
+timestamp: 2025-01-01_132924
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 32768
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: wandb

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carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_132924/wandb/run-20250101_132928-k684az5i/files/config.yaml

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+  desc: null
+  value: false
+viewer:
+  desc: null
+  value:
+    camera_frustum_scale: 0.1
+    default_composite_depth: true
+    image_format: jpeg
+    jpeg_quality: 75
+    make_share_url: false
+    max_num_display_images: 512
+    num_rays_per_chunk: 32768
+    quit_on_train_completion: false
+    relative_log_filename: viewer_log_filename.txt
+    websocket_host: 0.0.0.0
+    websocket_port: null
+    websocket_port_default: 7007
+vis:
+  desc: null
+  value: wandb