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b/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_132924/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..39bbfb151d57c3385cb8269efed2e99582c9c5c6 --- /dev/null +++ b/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: 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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 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MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 20891172 + total_bytes: 20934972 +} + +2025-01-01 13:34:18,856 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 20891172 + total_bytes: 20934972 +} + +2025-01-01 13:34:18,959 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 20906474 + total_bytes: 20934972 +} + +2025-01-01 13:34:19,063 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 20934972 + total_bytes: 20934972 +} + +2025-01-01 13:34:19,165 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + 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Set flag --logging.local-writer.max-log-size=0 to disable line ]8;id=928477;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/utils/writer.py\writer.py]8;;\:]8;id=111764;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/utils/writer.py#448\448]8;;\ + wrapping. +Step (% Done) Train Iter (time) ETA (time) Train Rays / Sec +----------------------------------------------------------------------------------- +0 (0.00%) 3 s, 128.384 ms 4 h, 20 m, 45 s +10 (0.20%) 308.704 ms 25 m, 40 s 156.83 K +40 (0.80%) 22.755 ms 1 m, 52 s 181.93 K +50 (1.00%) 22.786 ms 1 m, 52 s 181.72 K +60 (1.20%) 22.863 ms 1 m, 52 s 181.16 K +70 (1.40%) 22.896 ms 1 m, 52 s 180.96 K +80 (1.60%) 22.906 ms 1 m, 52 s 180.94 K +90 (1.80%) 22.916 ms 1 m, 52 s 180.79 K +100 (2.00%) 22.993 ms 1 m, 52 s 180.08 K + + + + + +490 (9.80%) 23.099 ms 1 m, 44 s 179.25 K +/usr/local/lib/python3.10/dist-packages/torchmetrics/utilities/prints.py:70: FutureWarning: Importing `spectral_angle_mapper` from `torchmetrics.functional` was deprecated and will be removed in 2.0. Import `spectral_angle_mapper` from `torchmetrics.image` instead. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +5000 (99.98%) 21.390 ms 21.390 ms 193.06 K 626.44 K +╭────────────────────────────────────────────── 🎉 Training Finished 🎉 ───────────────────────────────────────────────╮ +│ ╷ │ +│ Config File │ /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_132924… │ +│ Checkpoint Directory │ /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_132924… │ +│ ╵ │ +╰──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯ +Printing profiling stats, from longest to shortest duration in seconds +SiLVRPipeline.get_eval_image_metrics_and_images: 0.6563 +VanillaPipeline.get_eval_image_metrics_and_images: 0.6563 +Trainer.train_iteration: 0.0220 +VanillaPipeline.get_train_loss_dict: 0.0116 +SiLVRPipeline.get_eval_loss_dict: 0.0095 +VanillaPipeline.get_eval_loss_dict: 0.0095 +Trainer.eval_iteration: 0.0013 +[13:31:37] Auto image downscale factor of 1 ]8;id=700005;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/data/dataparsers/nerfstudio_dataparser.py\nerfstudio_dataparser.py]8;;\:]8;id=556932;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/data/dataparsers/nerfstudio_dataparser.py#484\484]8;;\ +Setting up training dataset... +Caching 500 out of 846 images, without resampling. +Setting up evaluation dataset... +Caching all 94 images. +✅ Done loading checkpoint from +/home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_132924/nerfstudio_models/step-00000500 +0.ckpt +Loading data batch ━━━━━━━╸━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━  19% 0:00:02 +Computing model uncertainty: 0%| | 0/2000 [00:00, but the default value None has type . We'll try to handle this gracefully, but it may cause unexpected behavior. + warnings.warn( +[13:34:14] Using --data alias for --data.pipeline.datamanager.data ]8;id=940486;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/scripts/train.py\train.py]8;;\:]8;id=483295;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/scripts/train.py#230\230]8;;\ +──────────────────────────────────────────────────────── Config ──────────────────────────────────────────────────────── +TrainerConfig( + _target=, + output_dir=PosixPath('/home/docker_dev/silvr/outputs'), + method_name='bayes-lidar-normal-nerfacto', + experiment_name=None, + project_name='nerfstudio-project', + timestamp='2025-01-01_133414', + machine=MachineConfig(seed=42, num_devices=1, num_machines=1, machine_rank=0, dist_url='auto', device_type='cuda'), + logging=LoggingConfig( + relative_log_dir=PosixPath('.'), + steps_per_log=10, + max_buffer_size=20, + local_writer=LocalWriterConfig( + _target=, + enable=True, + stats_to_track=( + , + , + , + , + , + + ), + max_log_size=10 + ), + profiler='basic' + ), + viewer=ViewerConfig( + relative_log_filename='viewer_log_filename.txt', + websocket_port=None, + websocket_port_default=7007, + websocket_host='0.0.0.0', + num_rays_per_chunk=32768, + max_num_display_images=512, + quit_on_train_completion=False, + image_format='jpeg', + jpeg_quality=75, + make_share_url=False, + camera_frustum_scale=0.1, + default_composite_depth=True + ), + pipeline=SiLVRPipelineConfig( + _target=, + datamanager=VanillaDataManagerConfig( + _target=nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager[silvr.lidar_dataset.LidarDepthNorma +lDataset], + data=PosixPath('/home/docker_dev/data/carla_lidar/submap_1.json'), + masks_on_gpu=False, + images_on_gpu=False, + dataparser=LidarDepthNormalDataParserConfig( + _target=, + data=PosixPath('/home/docker_dev/data/carla_lidar/submap_0.json'), + scale_factor=1.0, + downscale_factor=None, + scene_scale=1.0, + orientation_method='up', + center_method='poses', + auto_scale_poses=True, + eval_mode='fraction', + train_split_fraction=0.9, + eval_interval=8, + depth_unit_scale_factor=0.00390625, + mask_color=None, + load_3D_points=False + ), + train_num_rays_per_batch=4096, + train_num_images_to_sample_from=500, + train_num_times_to_repeat_images=-1, + eval_num_rays_per_batch=4096, + eval_num_images_to_sample_from=100, + eval_num_times_to_repeat_images=-1, + eval_image_indices=(0,), + collate_fn=, + camera_res_scale_factor=1.0, + patch_size=1, + camera_optimizer=None, + pixel_sampler=PairPixelSamplerConfig( + _target=, + num_rays_per_batch=4096, + keep_full_image=False, + is_equirectangular=False, + ignore_mask=False, + fisheye_crop_radius=None, + rejection_sample_mask=True, + max_num_iterations=100, + radius=2 + ) + ), + model=BayesLidarNormalNerfactoModelConfig( + _target=, + enable_collider=True, + collider_params={'near_plane': 2.0, 'far_plane': 6.0}, + loss_coefficients={'rgb_loss_coarse': 1.0, 'rgb_loss_fine': 1.0}, + eval_num_rays_per_chunk=32768, + prompt=None, + near_plane=0.05, + far_plane=1000.0, + background_color='last_sample', + hidden_dim=64, + hidden_dim_color=64, + hidden_dim_transient=64, + num_levels=16, + base_res=16, + max_res=2048, + log2_hashmap_size=19, + features_per_level=2, + num_proposal_samples_per_ray=(256, 96), + num_nerf_samples_per_ray=48, + proposal_update_every=5, + proposal_warmup=5000, + num_proposal_iterations=2, + use_same_proposal_network=False, + proposal_net_args_list=[ + {'hidden_dim': 16, 'log2_hashmap_size': 17, 'num_levels': 5, 'max_res': 128, 'use_linear': False}, + {'hidden_dim': 16, 'log2_hashmap_size': 17, 'num_levels': 5, 'max_res': 256, 'use_linear': False} + ], + proposal_initial_sampler='piecewise', + interlevel_loss_mult=1.0, + distortion_loss_mult=0.002, + orientation_loss_mult=0.0001, + pred_normal_loss_mult=0.001, + use_proposal_weight_anneal=True, + use_appearance_embedding=True, + use_average_appearance_embedding=True, + proposal_weights_anneal_slope=10.0, + proposal_weights_anneal_max_num_iters=1000, + use_single_jitter=True, + predict_normals=False, + disable_scene_contraction=False, + use_gradient_scaling=False, + implementation='tcnn', + appearance_embed_dim=32, + average_init_density=1.0, + camera_optimizer=CameraOptimizerConfig( + _target=, + mode='off', + trans_l2_penalty=0.01, + rot_l2_penalty=0.001, + optimizer=None, + scheduler=None + ), + compute_normals=False, + filter_out_point=True, + filter_point_thresh=0.1, + ray_num=4096000, + max_log_uncertainty=6, + min_log_uncertainty=-3, + use_legacy_log_unc=False, + depth_loss_mult=10.0, + is_euclidean_depth=False, + depth_sigma=0.001, + should_decay_sigma=True, + starting_depth_sigma=0.01, + sigma_decay_rate=0.99985, + depth_loss_type=, + lidar_depth_loss_type=, + save_pcd=False, + save_pcd_folder='pcd', + depth_encoding=0.00390625, + dataparser_scale=None, + sky_depth_meter=250, + normal_loss_mult=0.001 + ) + ), + optimizers={ + 'proposal_networks': { + 'optimizer': AdamOptimizerConfig( + _target=, + lr=0.01, + eps=1e-15, + max_norm=None, + weight_decay=0 + ), + 'scheduler': ExponentialDecaySchedulerConfig( + _target=, + lr_pre_warmup=1e-08, + lr_final=0.0001, + warmup_steps=0, + max_steps=200000, + ramp='cosine' + ) + }, + 'fields': { + 'optimizer': AdamOptimizerConfig( + _target=, + lr=0.01, + eps=1e-15, + max_norm=None, + weight_decay=0 + ), + 'scheduler': ExponentialDecaySchedulerConfig( + _target=, + lr_pre_warmup=1e-08, + lr_final=0.0001, + warmup_steps=0, + max_steps=200000, + ramp='cosine' + ) + }, + 'camera_opt': { + 'optimizer': AdamOptimizerConfig( + _target=, + lr=0.0006, + eps=1e-15, + max_norm=None, + weight_decay=0 + ), + 'scheduler': ExponentialDecaySchedulerConfig( + _target=, + lr_pre_warmup=1e-08, + lr_final=0.0001, + warmup_steps=0, + max_steps=5000, + ramp='cosine' + ) + } + }, + vis='wandb', + data=PosixPath('/home/docker_dev/data/carla_lidar/submap_1.json'), + prompt=None, + relative_model_dir=PosixPath('nerfstudio_models'), + load_scheduler=True, + steps_per_save=2000, + steps_per_eval_batch=500, + steps_per_eval_image=500, + steps_per_eval_all_images=70000, + max_num_iterations=5001, + mixed_precision=True, + use_grad_scaler=False, + save_only_latest_checkpoint=True, + load_dir=None, + load_step=None, + load_config=None, + load_checkpoint=None, + log_gradients=False, + gradient_accumulation_steps={} +) +──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────── + Saving config to: ]8;id=227141;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/configs/experiment_config.py\experiment_config.py]8;;\:]8;id=48000;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/configs/experiment_config.py#136\136]8;;\ + /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_13 + 3414/config.yml + Saving checkpoints to: ]8;id=288389;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/engine/trainer.py\trainer.py]8;;\:]8;id=256787;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/engine/trainer.py#136\136]8;;\ + /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133414/nerfs + tudio_models + Auto image downscale factor of 1 ]8;id=709570;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/data/dataparsers/nerfstudio_dataparser.py\nerfstudio_dataparser.py]8;;\:]8;id=776646;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/data/dataparsers/nerfstudio_dataparser.py#484\484]8;;\ +Setting up training dataset... +Caching 500 out of 1288 images, without resampling. +Setting up evaluation dataset... +Caching 100 out of 143 images, without resampling. +No Nerfstudio checkpoint to load, so training from scratch. \ No newline at end of file diff --git a/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_132924/wandb/run-20250101_132928-k684az5i/files/requirements.txt b/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_132924/wandb/run-20250101_132928-k684az5i/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..48f176a1ebc63ab3da28c223203eb428a6b79b17 --- /dev/null +++ b/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_132924/wandb/run-20250101_132928-k684az5i/files/requirements.txt @@ -0,0 +1,259 @@ +absl-py==2.1.0 +addict==2.4.0 +anyio==4.7.0 +appdirs==1.4.4 +argon2-cffi-bindings==21.2.0 +argon2-cffi==23.1.0 +arrow==1.3.0 +asttokens==3.0.0 +async-lru==2.0.4 +attrs==24.3.0 +av==14.0.1 +awscli==1.36.26 +babel==2.16.0 +beautifulsoup4==4.12.3 +bidict==0.23.1 +bleach==6.2.0 +blinker==1.9.0 +botocore==1.35.85 +cachetools==5.5.0 +certifi==2022.12.7 +cffi==1.17.1 +cfgv==3.4.0 +chardet==5.2.0 +charset-normalizer==2.1.1 +click==8.1.7 +cmake==3.25.0 +colorama==0.4.6 +colorlog==6.9.0 +comet-ml==3.47.5 +comm==0.2.2 +configargparse==1.7 +configobj==5.0.9 +contourpy==1.3.1 +cryptography==44.0.0 +cycler==0.12.1 +dash-core-components==2.0.0 +dash-html-components==2.0.0 +dash-table==5.0.0 +dash==2.18.2 +debugpy==1.8.11 +decorator==5.1.1 +defusedxml==0.7.1 +descartes==1.1.0 +dill==0.3.9 +distlib==0.3.9 +docker-pycreds==0.4.0 +docstring-parser==0.16 +docutils==0.16 +dulwich==0.22.7 +embreex==2.17.7.post5 +everett==3.1.0 +exceptiongroup==1.2.2 +executing==2.1.0 +fastjsonschema==2.21.1 +filelock==3.13.1 +fire==0.7.0 +flask==3.0.3 +fonttools==4.55.3 +fqdn==1.5.1 +gdown==5.2.0 +gitdb==4.0.11 +gitpython==3.1.43 +grpcio==1.68.1 +gsplat==0.1.12 +h11==0.14.0 +h5py==3.12.1 +httpcore==1.0.7 +httpx==0.28.1 +identify==2.6.3 +idna==3.4 +imageio==2.36.1 +importlib-metadata==8.5.0 +iniconfig==2.0.0 +ipykernel==6.29.5 +ipython==8.31.0 +ipywidgets==8.1.5 +isoduration==20.11.0 +itsdangerous==2.2.0 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b/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_132924/wandb/run-20250101_132928-k684az5i/files/wandb-metadata.json @@ -0,0 +1,64 @@ +{ + "os": "Linux-5.15.0-124-generic-x86_64-with-glibc2.35", + "python": "3.10.12", + "heartbeatAt": "2025-01-01T13:29:28.510046", + "startedAt": "2025-01-01T13:29:28.065462", + "docker": null, + "gpu": "NVIDIA GeForce RTX 4090", + "gpu_count": 2, + "cpu_count": 32, + "cuda": null, + "args": [ + "bayes-lidar-normal-nerfacto", + "--data", + "/home/docker_dev/data/carla_lidar/submap_0.json", + "--vis", + "wandb", + "--max_num_iterations", + "5001", + "--steps_per_eval_image", + "500", + "--steps_per_eval_all_images", + "70000", + "--output_dir", + "/home/docker_dev/silvr/outputs", + "--pipeline.datamanager.train-num-images-to-sample-from", + "500", + "--pipeline.datamanager.eval-num-images-to-sample-from", + "100", + "--pipeline.model.camera-optimizer.mode", + "off", + "--optimizers.camera-opt.optimizer.lr", + "0.0006", + "--pipeline.model.lidar-depth-loss-type", + "DS_NERF_NEW", + "--pipeline.model.depth-loss-mult", + "10", + "--pipeline.model.normal-loss-mult", + "0.001", + "--pipeline.model.depth-sigma", + "0.001", + "--pipeline.model.should-decay-sigma", + "True", + "--pipeline.model.starting-depth-sigma", + "0.01", + "--pipeline.model.sigma-decay-rate", + "0.99985", + "--pipeline.model.save-pcd", + "False", + "--pipeline.model.is-euclidean-depth", + "False" + ], + "state": "running", + "program": "/home/docker_dev/silvr/batch.py", + "codePath": "batch.py", + "git": { + "remote": "git@github.com:ori-drs/silvr.git", + "commit": "314cbe3f89ab4bd6ee8a1de9983a7b7c2e2b6809" + }, + "email": null, + "root": "/home/docker_dev/silvr", + "host": "inti", + "username": "docker_dev", + "executable": "/usr/bin/python" +} diff --git a/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_132924/wandb/run-20250101_132928-k684az5i/files/wandb-summary.json b/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_132924/wandb/run-20250101_132928-k684az5i/files/wandb-summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0be8a80ab69869c27ffd7cc1b7b309d08a5df73b --- /dev/null +++ b/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_132924/wandb/run-20250101_132928-k684az5i/files/wandb-summary.json @@ -0,0 +1 @@ +{"Train Iter (time)": 0.021390247344970702, "_timestamp": 1735738297.0833316, "ETA (time)": 0.021390247344970702, "Train Loss": 0.009581002042621701, "Train Loss Dict/rgb_loss": 0.004619068931788206, "Train Loss Dict/interlevel_loss": 0.0007501986110582948, "Train Loss Dict/distortion_loss": 3.394574741832912e-05, "Train Loss Dict/depth_loss": 0.003253723305177271, "Train Loss Dict/normal_loss": 0.000924065534491092, "Train Metrics Dict/psnr": 23.354454040527344, "Train Metrics Dict/distortion": 0.016972873359918594, "Train Metrics Dict/depth_loss": 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!!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 + - / + - home + - docker_dev + - data + - carla_lidar + - submap_0.json + 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: 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'should_decay_sigma': True, 'starting_depth_sigma': 0.01, 'sigma_decay_rate': 0.99985, 'depth_loss_type': 'DepthLossType.DS_NERF', 'lidar_depth_loss_type': 'LidarDepthLossType.DS_NERF_NEW', 'save_pcd': False, 'save_pcd_folder': 'pcd', 'depth_encoding': 0.00390625, 'dataparser_scale': 0.011194693043160021, 'sky_depth_meter': 250, 'normal_loss_mult': 0.001}}, 'optimizers': {'proposal_networks': {'optimizer': {'_target': 'torch.optim.adam.Adam', 'lr': 0.01, 'eps': 1e-15, 'max_norm': None, 'weight_decay': 0}, 'scheduler': {'_target': 'nerfstudio.engine.schedulers.ExponentialDecayScheduler', 'lr_pre_warmup': 1e-08, 'lr_final': 0.0001, 'warmup_steps': 0, 'max_steps': 200000, 'ramp': 'cosine'}}, 'fields': {'optimizer': {'_target': 'torch.optim.adam.Adam', 'lr': 0.01, 'eps': 1e-15, 'max_norm': None, 'weight_decay': 0}, 'scheduler': {'_target': 'nerfstudio.engine.schedulers.ExponentialDecayScheduler', 'lr_pre_warmup': 1e-08, 'lr_final': 0.0001, 'warmup_steps': 0, 'max_steps': 200000, 'ramp': 'cosine'}}, 'camera_opt': {'optimizer': {'_target': 'torch.optim.adam.Adam', 'lr': 0.0006, 'eps': 1e-15, 'max_norm': None, 'weight_decay': 0}, 'scheduler': {'_target': 'nerfstudio.engine.schedulers.ExponentialDecayScheduler', 'lr_pre_warmup': 1e-08, 'lr_final': 0.0001, 'warmup_steps': 0, 'max_steps': 5000, 'ramp': 'cosine'}}}, 'vis': 'wandb', 'data': '/home/docker_dev/data/carla_lidar/submap_1.json', 'prompt': None, 'relative_model_dir': 'nerfstudio_models', 'load_scheduler': True, 'steps_per_save': 2000, 'steps_per_eval_batch': 500, 'steps_per_eval_image': 500, 'steps_per_eval_all_images': 70000, 'max_num_iterations': 5001, 'mixed_precision': True, 'use_grad_scaler': False, 'save_only_latest_checkpoint': True, 'load_dir': None, 'load_step': None, 'load_config': None, 'load_checkpoint': None, 'log_gradients': False, 'gradient_accumulation_steps': {}} +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_setup.py:_flush():68] Configure stats pid to 4904 +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_setup.py:_flush():68] Loading settings from /home/docker_dev/.config/wandb/settings +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_setup.py:_flush():68] Loading settings from /home/docker_dev/silvr/wandb/settings +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_setup.py:_flush():68] Loading settings from environment variables: {'_require_service': 'True'} +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_setup.py:_flush():68] Inferring run settings from compute environment: {'program_relpath': 'batch.py', 'program': '/home/docker_dev/silvr/batch.py'} +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_init.py:_log_setup():476] Logging user logs to /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918/wandb/run-20250101_133920-9apx5qkl/logs/debug.log +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_init.py:_log_setup():477] Logging internal logs to /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918/wandb/run-20250101_133920-9apx5qkl/logs/debug-internal.log +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_init.py:init():516] calling init triggers +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_init.py:init():519] wandb.init called with sweep_config: {} +config: {} +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_init.py:init():535] re-initializing run, found existing run on stack: 667j2u3z +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_run.py:_finish():1720] finishing run ethantao96/nerfstudio-project/667j2u3z +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_run.py:_atexit_cleanup():1923] got exitcode: 0 +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_run.py:_restore():1906] restore +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_run.py:_restore():1912] restore done +2025-01-01 13:39:20,022 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 1 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19609150 + total_bytes: 19609150 +} + +2025-01-01 13:39:20,229 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 1 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19609150 + total_bytes: 19609150 +} + +2025-01-01 13:39:21,503 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 1 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19609150 + total_bytes: 19609150 +} + +2025-01-01 13:39:21,864 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19609150 + total_bytes: 19654192 +} + +2025-01-01 13:39:21,967 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19609150 + total_bytes: 19654192 +} + +2025-01-01 13:39:22,070 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19654192 + total_bytes: 19654192 +} + +2025-01-01 13:39:22,173 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19654192 + total_bytes: 19654192 +} + +2025-01-01 13:39:22,276 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19654192 + total_bytes: 19654192 +} + +2025-01-01 13:39:22,379 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19654192 + total_bytes: 19654192 +} + +2025-01-01 13:39:22,482 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19654192 + total_bytes: 19654192 +} + +2025-01-01 13:39:22,892 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19654192 + total_bytes: 19654192 +} + +2025-01-01 13:39:23,244 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: done: true +exit_result { +} +file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19654192 + total_bytes: 19654192 +} +local_info { +} + +2025-01-01 13:39:24,358 INFO MainThread:4904 [wandb_run.py:_footer_history_summary_info():3321] rendering history +2025-01-01 13:39:24,360 INFO MainThread:4904 [wandb_run.py:_footer_history_summary_info():3353] rendering summary +2025-01-01 13:39:24,361 INFO MainThread:4904 [wandb_run.py:_footer_sync_info():3277] logging synced files diff --git 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21.379 ms 876.535 ms 192.98 K +4970 (99.38%) 21.419 ms 663.982 ms 192.67 K +4980 (99.58%) 21.431 ms 450.051 ms 192.52 K ]8;id=653425;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/utils/writer.py\writer.py]8;;\:]8;id=329164;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/utils/writer.py#448\448]8;;\ +4990 (99.78%) 21.417 ms 235.590 ms 192.71 K +Step (% Done) Train Iter (time) ETA (time) Train Rays / Sec 26.44 K +----------------------------------------------------------------------------------- +0 (0.00%) 2 s, 950.995 ms 4 h, 5 m, 57 s +10 (0.20%) 291.003 ms 24 m, 12 s 163.65 K +40 (0.80%) 22.872 ms 1 m, 53 s 181.04 K +50 (1.00%) 22.838 ms 1 m, 53 s 181.23 K +60 (1.20%) 22.868 ms 1 m, 52 s 180.91 K +70 (1.40%) 22.863 ms 1 m, 52 s 180.97 K +80 (1.60%) 22.934 ms 1 m, 52 s 180.41 K +90 (1.80%) 23.243 ms 1 m, 54 s 178.00 K +100 (2.00%) 23.309 ms 1 m, 54 s 177.41 K + + + + +490 (9.80%) 23.310 ms 1 m, 45 s 177.88 K +[?25h +/usr/local/lib/python3.10/dist-packages/torchmetrics/utilities/prints.py:70: FutureWarning: Importing `spectral_angle_mapper` from `torchmetrics.functional` was deprecated and will be removed in 2.0. Import `spectral_angle_mapper` from `torchmetrics.image` instead. +│ ╷ │ +│ Config File │ /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133414… │ +│ Checkpoint Directory │ /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133414… │ +│ ╵ │ +╰──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯ +Printing profiling stats, from longest to shortest duration in seconds +SiLVRPipeline.get_eval_image_metrics_and_images: 0.6320 +VanillaPipeline.get_eval_image_metrics_and_images: 0.6319 +SiLVRPipeline.get_eval_loss_dict: 0.0443 +VanillaPipeline.get_eval_loss_dict: 0.0443 +Trainer.train_iteration: 0.0221 +VanillaPipeline.get_train_loss_dict: 0.0116 +Trainer.eval_iteration: 0.0014 +[13:36:39] Auto image downscale factor of 1 ]8;id=566390;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/data/dataparsers/nerfstudio_dataparser.py\nerfstudio_dataparser.py]8;;\:]8;id=84491;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/data/dataparsers/nerfstudio_dataparser.py#484\484]8;;\ +Setting up training dataset... +Caching 500 out of 1288 images, without resampling. +Setting up evaluation dataset... +Caching 100 out of 143 images, without resampling. +Loading latest checkpoint from load_dir +✅ Done loading checkpoint from +/home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133414/nerfstudio_models/step-00000500 +0.ckpt +Loading data batch ━━━━━━━━━━━━━━╺━━━━━━━━━━━━━━━━━━━━━━━━━  36% 0:00:02 +Computing model uncertainty: 0%| | 0/2000 [00:00, but the default value None has type . We'll try to handle this gracefully, but it may cause unexpected behavior. + viewer=ViewerConfig(me.ETA: 'ETA (time)'>,ome/docker_dev/data/carla_lidar/submap_2.json --vis wandb --max_num_iterations 5001 --steps_per_eval_image 500 --steps_per_eval_all_images 70000 --output_dir /home/docker_dev/silvr/outputs --pipeline.datamanager.train-num-images-to-sample-from 500 --pipeline.datamanager.eval-num-images-to-sample-from 100 --pipeline.model.camera-optimizer.mode off --optimizers.camera-opt.optimizer.lr 0.0006 --pipeline.model.lidar-depth-loss-type DS_NERF_NEW --pipeline.model.depth-loss-mult 10 --pipeline.model.normal-loss-mult 0.001 --pipeline.model.depth-sigma 0.001 --pipeline.model.should-decay-sigma True --pipeline.model.starting-depth-sigma 0.01 --pipeline.model.sigma-decay-rate 0.99985 --pipeline.model.save-pcd False --pipeline.model.is-euclidean-depth False + ), + max_log_size=10 + ), + profiler='basic' + ), + viewer=ViewerConfig(me.ETA: 'ETA (time)'>,ome/docker_dev/data/carla_lidar/submap_2.json --vis wandb --max_num_iterations 5001 --steps_per_eval_image 500 --steps_per_eval_all_images 70000 --output_dir /home/docker_dev/silvr/outputs --pipeline.datamanager.train-num-images-to-sample-from 500 --pipeline.datamanager.eval-num-images-to-sample-from 100 --pipeline.model.camera-optimizer.mode off --optimizers.camera-opt.optimizer.lr 0.0006 --pipeline.model.lidar-depth-loss-type DS_NERF_NEW --pipeline.model.depth-loss-mult 10 --pipeline.model.normal-loss-mult 0.001 --pipeline.model.depth-sigma 0.001 --pipeline.model.should-decay-sigma True --pipeline.model.starting-depth-sigma 0.01 --pipeline.model.sigma-decay-rate 0.99985 --pipeline.model.save-pcd False --pipeline.model.is-euclidean-depth False + relative_log_filename='viewer_log_filename.txt', + websocket_port=None, + websocket_port_default=7007, + websocket_host='0.0.0.0', + num_rays_per_chunk=32768, + max_num_display_images=512, + quit_on_train_completion=False, + image_format='jpeg', + jpeg_quality=75, + make_share_url=False, + camera_frustum_scale=0.1, + default_composite_depth=True + ), + pipeline=SiLVRPipelineConfig( + _target=, + datamanager=VanillaDataManagerConfig( + _target=nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager[silvr.lidar_dataset.LidarDepthNorma +lDataset], + data=PosixPath('/home/docker_dev/data/carla_lidar/submap_2.json'), + masks_on_gpu=False, + images_on_gpu=False, + dataparser=LidarDepthNormalDataParserConfig( + _target=, + data=PosixPath('/home/docker_dev/data/carla_lidar/submap_1.json'), + scale_factor=1.0, + downscale_factor=None, + scene_scale=1.0, + orientation_method='up', + center_method='poses', + auto_scale_poses=True, + eval_mode='fraction', + train_split_fraction=0.9, + eval_interval=8, + depth_unit_scale_factor=0.00390625, + mask_color=None, + load_3D_points=False + ), + train_num_rays_per_batch=4096, + train_num_images_to_sample_from=500, + train_num_times_to_repeat_images=-1, + eval_num_rays_per_batch=4096, + eval_num_images_to_sample_from=100, + eval_num_times_to_repeat_images=-1, + eval_image_indices=(0,), + collate_fn=, + camera_res_scale_factor=1.0, + patch_size=1, + camera_optimizer=None, + pixel_sampler=PairPixelSamplerConfig( + _target=, + num_rays_per_batch=4096, + keep_full_image=False, + is_equirectangular=False, + ignore_mask=False, + fisheye_crop_radius=None, + rejection_sample_mask=True, + max_num_iterations=100, + radius=2 + ) + ), + model=BayesLidarNormalNerfactoModelConfig( + _target=, + enable_collider=True, + collider_params={'near_plane': 2.0, 'far_plane': 6.0}, + loss_coefficients={'rgb_loss_coarse': 1.0, 'rgb_loss_fine': 1.0}, + eval_num_rays_per_chunk=32768, + prompt=None, + near_plane=0.05, + far_plane=1000.0, + background_color='last_sample', + hidden_dim=64, + hidden_dim_color=64, + hidden_dim_transient=64, + num_levels=16, + base_res=16, + max_res=2048, + log2_hashmap_size=19, + features_per_level=2, + num_proposal_samples_per_ray=(256, 96), + num_nerf_samples_per_ray=48, + proposal_update_every=5, + proposal_warmup=5000, + num_proposal_iterations=2, + use_same_proposal_network=False, + proposal_net_args_list=[ + {'hidden_dim': 16, 'log2_hashmap_size': 17, 'num_levels': 5, 'max_res': 128, 'use_linear': False}, + {'hidden_dim': 16, 'log2_hashmap_size': 17, 'num_levels': 5, 'max_res': 256, 'use_linear': False} + ], + proposal_initial_sampler='piecewise', + interlevel_loss_mult=1.0, + distortion_loss_mult=0.002, + orientation_loss_mult=0.0001, + pred_normal_loss_mult=0.001, + use_proposal_weight_anneal=True, + use_appearance_embedding=True, + use_average_appearance_embedding=True, + proposal_weights_anneal_slope=10.0, + proposal_weights_anneal_max_num_iters=1000, + use_single_jitter=True, + predict_normals=False, + disable_scene_contraction=False, + use_gradient_scaling=False, + implementation='tcnn', + appearance_embed_dim=32, + average_init_density=1.0, + camera_optimizer=CameraOptimizerConfig( + _target=, + mode='off', + trans_l2_penalty=0.01, + rot_l2_penalty=0.001, + optimizer=None, + scheduler=None + ), + compute_normals=False, + filter_out_point=True, + filter_point_thresh=0.1, + ray_num=4096000, + max_log_uncertainty=6, + min_log_uncertainty=-3, + use_legacy_log_unc=False, + depth_loss_mult=10.0, + is_euclidean_depth=False, + depth_sigma=0.001, + should_decay_sigma=True, + starting_depth_sigma=0.01, + sigma_decay_rate=0.99985, + depth_loss_type=, + lidar_depth_loss_type=, + save_pcd=False, + save_pcd_folder='pcd', + depth_encoding=0.00390625, + dataparser_scale=None, + sky_depth_meter=250, + normal_loss_mult=0.001 + ) + ), + optimizers={ + 'proposal_networks': { + 'optimizer': AdamOptimizerConfig( + _target=, + lr=0.01, + eps=1e-15, + max_norm=None, + weight_decay=0 + ), + 'scheduler': ExponentialDecaySchedulerConfig( + _target=, + lr_pre_warmup=1e-08, + lr_final=0.0001, + warmup_steps=0, + max_steps=200000, + ramp='cosine' + ) + }, + 'fields': { + 'optimizer': AdamOptimizerConfig( + _target=, + lr=0.01, + eps=1e-15, + max_norm=None, + weight_decay=0 + ), + 'scheduler': ExponentialDecaySchedulerConfig( + _target=, + lr_pre_warmup=1e-08, + lr_final=0.0001, + warmup_steps=0, + max_steps=200000, + ramp='cosine' + ) + }, + 'camera_opt': { + 'optimizer': AdamOptimizerConfig( + _target=, + lr=0.0006, + eps=1e-15, + max_norm=None, + weight_decay=0 + ), + 'scheduler': ExponentialDecaySchedulerConfig( + _target=, + lr_pre_warmup=1e-08, + lr_final=0.0001, + warmup_steps=0, + max_steps=5000, + ramp='cosine' + ) + } + }, + vis='wandb', + data=PosixPath('/home/docker_dev/data/carla_lidar/submap_2.json'), + prompt=None, + relative_model_dir=PosixPath('nerfstudio_models'), + load_scheduler=True, + steps_per_save=2000, + steps_per_eval_batch=500, + steps_per_eval_image=500, + steps_per_eval_all_images=70000, + max_num_iterations=5001, + mixed_precision=True, + use_grad_scaler=False, + save_only_latest_checkpoint=True, + load_dir=None, + load_step=None, + load_config=None, + load_checkpoint=None, + log_gradients=False, + gradient_accumulation_steps={} +) +──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────── + Saving config to: ]8;id=242093;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/configs/experiment_config.py\experiment_config.py]8;;\:]8;id=348315;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/configs/experiment_config.py#136\136]8;;\ + /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_13 + 3918/config.yml + Saving checkpoints to: ]8;id=288389;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/engine/trainer.py\trainer.py]8;;\:]8;id=256787;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/engine/trainer.py#136\136]8;;\ + /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918/nerfs + tudio_models + Auto image downscale factor of 1 ]8;id=709570;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/data/dataparsers/nerfstudio_dataparser.py\nerfstudio_dataparser.py]8;;\:]8;id=776646;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/data/dataparsers/nerfstudio_dataparser.py#484\484]8;;\ +Setting up training dataset... +Caching 500 out of 684 images, without resampling. +Setting up evaluation dataset... +Caching all 76 images. +No Nerfstudio checkpoint to load, so training from scratch. +[?25h \ No newline at end of file diff --git a/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133414/wandb/run-20250101_133415-667j2u3z/files/requirements.txt b/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133414/wandb/run-20250101_133415-667j2u3z/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..48f176a1ebc63ab3da28c223203eb428a6b79b17 --- /dev/null +++ b/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133414/wandb/run-20250101_133415-667j2u3z/files/requirements.txt @@ -0,0 +1,259 @@ +absl-py==2.1.0 +addict==2.4.0 +anyio==4.7.0 +appdirs==1.4.4 +argon2-cffi-bindings==21.2.0 +argon2-cffi==23.1.0 +arrow==1.3.0 +asttokens==3.0.0 +async-lru==2.0.4 +attrs==24.3.0 +av==14.0.1 +awscli==1.36.26 +babel==2.16.0 +beautifulsoup4==4.12.3 +bidict==0.23.1 +bleach==6.2.0 +blinker==1.9.0 +botocore==1.35.85 +cachetools==5.5.0 +certifi==2022.12.7 +cffi==1.17.1 +cfgv==3.4.0 +chardet==5.2.0 +charset-normalizer==2.1.1 +click==8.1.7 +cmake==3.25.0 +colorama==0.4.6 +colorlog==6.9.0 +comet-ml==3.47.5 +comm==0.2.2 +configargparse==1.7 +configobj==5.0.9 +contourpy==1.3.1 +cryptography==44.0.0 +cycler==0.12.1 +dash-core-components==2.0.0 +dash-html-components==2.0.0 +dash-table==5.0.0 +dash==2.18.2 +debugpy==1.8.11 +decorator==5.1.1 +defusedxml==0.7.1 +descartes==1.1.0 +dill==0.3.9 +distlib==0.3.9 +docker-pycreds==0.4.0 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/home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133414/wandb/run-20250101_133415-667j2u3z/logs/debug.log +2025-01-01 13:34:15,463 INFO MainThread:4904 [wandb_init.py:_log_setup():477] Logging internal logs to /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133414/wandb/run-20250101_133415-667j2u3z/logs/debug-internal.log +2025-01-01 13:34:15,463 INFO MainThread:4904 [wandb_init.py:init():516] calling init triggers +2025-01-01 13:34:15,463 INFO MainThread:4904 [wandb_init.py:init():519] wandb.init called with sweep_config: {} +config: {} +2025-01-01 13:34:15,463 INFO MainThread:4904 [wandb_init.py:init():535] re-initializing run, found existing run on stack: k684az5i +2025-01-01 13:34:15,464 INFO MainThread:4904 [wandb_run.py:_finish():1720] finishing run ethantao96/nerfstudio-project/k684az5i +2025-01-01 13:34:15,464 INFO MainThread:4904 [wandb_run.py:_atexit_cleanup():1923] got exitcode: 0 +2025-01-01 13:34:15,464 INFO MainThread:4904 [wandb_run.py:_restore():1906] restore +2025-01-01 13:34:15,464 INFO MainThread:4904 [wandb_run.py:_restore():1912] restore done +2025-01-01 13:34:15,467 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 1 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 20891172 + total_bytes: 20891172 +} + +2025-01-01 13:34:15,833 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 1 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 20891172 + total_bytes: 20891172 +} + +2025-01-01 13:34:18,623 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 1 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 20891172 + total_bytes: 20891172 +} + +2025-01-01 13:34:18,753 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 20891172 + total_bytes: 20934972 +} + +2025-01-01 13:34:18,856 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 20891172 + total_bytes: 20934972 +} + +2025-01-01 13:34:18,959 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 20906474 + total_bytes: 20934972 +} + +2025-01-01 13:34:19,063 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 20934972 + total_bytes: 20934972 +} + +2025-01-01 13:34:19,165 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 20934972 + total_bytes: 20934972 +} + +2025-01-01 13:34:19,268 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 20934972 + total_bytes: 20934972 +} + +2025-01-01 13:34:19,372 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 20934972 + total_bytes: 20934972 +} + +2025-01-01 13:34:19,665 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 20934972 + total_bytes: 20934972 +} + +2025-01-01 13:34:20,024 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: done: true +exit_result { +} +file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 20934972 + total_bytes: 20934972 +} +local_info { +} + +2025-01-01 13:34:21,135 INFO MainThread:4904 [wandb_run.py:_footer_history_summary_info():3321] rendering history +2025-01-01 13:34:21,136 INFO MainThread:4904 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MainThread:4904 [wandb_setup.py:_flush():68] Loading settings from /home/docker_dev/.config/wandb/settings +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_setup.py:_flush():68] Loading settings from /home/docker_dev/silvr/wandb/settings +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_setup.py:_flush():68] Loading settings from environment variables: {'_require_service': 'True'} +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_setup.py:_flush():68] Inferring run settings from compute environment: {'program_relpath': 'batch.py', 'program': '/home/docker_dev/silvr/batch.py'} +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_init.py:_log_setup():476] Logging user logs to /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918/wandb/run-20250101_133920-9apx5qkl/logs/debug.log +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_init.py:_log_setup():477] Logging internal logs to 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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 + - / + - home + - docker_dev + - data + - carla_lidar + - submap_1.json + 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_133918 +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 diff --git a/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918/dataparser_transforms.json b/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7adba66ee7b60b0755168550d8a0ad555d177d11 --- /dev/null +++ b/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + 0.9999991655349731, + -2.601584867534257e-07, + -0.0012732394970953465, + -82.96781921386719 + ], + [ + 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INFO MainThread:4904 [wandb_setup.py:_flush():68] Loading settings from /home/docker_dev/silvr/wandb/settings +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_setup.py:_flush():68] Loading settings from environment variables: {'_require_service': 'True'} +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_setup.py:_flush():68] Inferring run settings from compute environment: {'program_relpath': 'batch.py', 'program': '/home/docker_dev/silvr/batch.py'} +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_init.py:_log_setup():476] Logging user logs to /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918/wandb/run-20250101_133920-9apx5qkl/logs/debug.log +2025-01-01 13:39:20,019 INFO MainThread:4904 [wandb_init.py:_log_setup():477] Logging internal logs to /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918/wandb/run-20250101_133920-9apx5qkl/logs/debug-internal.log +2025-01-01 13:39:20,019 INFO MainThread:4904 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file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19654192 + total_bytes: 19654192 +} + +2025-01-01 13:39:23,244 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: done: true +exit_result { +} +file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19654192 + total_bytes: 19654192 +} +local_info { +} + +2025-01-01 13:39:24,358 INFO MainThread:4904 [wandb_run.py:_footer_history_summary_info():3321] rendering history +2025-01-01 13:39:24,360 INFO MainThread:4904 [wandb_run.py:_footer_history_summary_info():3353] rendering summary +2025-01-01 13:39:24,361 INFO MainThread:4904 [wandb_run.py:_footer_sync_info():3277] logging synced files +2025-01-01 13:39:24,361 INFO MainThread:4904 [wandb_init.py:init():569] starting backend +2025-01-01 13:39:24,361 INFO MainThread:4904 [wandb_init.py:init():573] setting up manager +2025-01-01 13:39:24,362 INFO MainThread:4904 [backend.py:_multiprocessing_setup():102] 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To upgrade, please run:\n $ pip install wandb --upgrade" + +2025-01-01 13:39:25,712 INFO MainThread:4904 [wandb_init.py:init():727] starting run threads in backend +2025-01-01 13:39:25,771 INFO MainThread:4904 [wandb_run.py:_console_start():1954] atexit reg +2025-01-01 13:39:25,771 INFO MainThread:4904 [wandb_run.py:_redirect():1812] redirect: SettingsConsole.WRAP_RAW +2025-01-01 13:39:25,771 INFO MainThread:4904 [wandb_run.py:_redirect():1877] Wrapping output streams. +2025-01-01 13:39:25,771 INFO MainThread:4904 [wandb_run.py:_redirect():1899] Redirects installed. +2025-01-01 13:39:25,772 INFO MainThread:4904 [wandb_init.py:init():764] run started, returning control to user process +2025-01-01 13:39:28,819 INFO MainThread:4904 [wandb_run.py:_config_callback():1145] config_cb None None {'_target': 'nerfstudio.engine.trainer.Trainer', 'output_dir': '/home/docker_dev/silvr/outputs', 'method_name': 'bayes-lidar-normal-nerfacto', 'experiment_name': 'carla_lidar', 'project_name': 'nerfstudio-project', 'timestamp': '2025-01-01_133918', 'machine': {'seed': 42, 'num_devices': 1, 'num_machines': 1, 'machine_rank': 0, 'dist_url': 'auto', 'device_type': 'cuda'}, 'logging': {'relative_log_dir': '.', 'steps_per_log': 10, 'max_buffer_size': 20, 'local_writer': {'_target': 'nerfstudio.utils.writer.LocalWriter', 'enable': True, 'stats_to_track': ['EventName.ITER_TRAIN_TIME', 'EventName.TRAIN_RAYS_PER_SEC', 'EventName.CURR_TEST_PSNR', 'EventName.VIS_RAYS_PER_SEC', 'EventName.TEST_RAYS_PER_SEC', 'EventName.ETA'], 'max_log_size': 10}, 'profiler': 'basic'}, 'viewer': {'relative_log_filename': 'viewer_log_filename.txt', 'websocket_port': None, 'websocket_port_default': 7007, 'websocket_host': '0.0.0.0', 'num_rays_per_chunk': 32768, 'max_num_display_images': 512, 'quit_on_train_completion': False, 'image_format': 'jpeg', 'jpeg_quality': 75, 'make_share_url': False, 'camera_frustum_scale': 0.1, 'default_composite_depth': True}, 'pipeline': {'_target': 'silvr.silvr_pipeline.SiLVRPipeline', 'datamanager': {'_target': 'nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager', 'data': '/home/docker_dev/data/carla_lidar/submap_2.json', 'masks_on_gpu': False, 'images_on_gpu': False, 'dataparser': {'_target': 'silvr.silvr_dataparser.LidarDepthNormalDataParser', 'data': '/home/docker_dev/data/carla_lidar/submap_2.json', 'scale_factor': 1.0, 'downscale_factor': None, 'scene_scale': 1.0, 'orientation_method': 'up', 'center_method': 'poses', 'auto_scale_poses': True, 'eval_mode': 'fraction', 'train_split_fraction': 0.9, 'eval_interval': 8, 'depth_unit_scale_factor': 0.00390625, 'mask_color': None, 'load_3D_points': False}, 'train_num_rays_per_batch': 4096, 'train_num_images_to_sample_from': 500, 'train_num_times_to_repeat_images': -1, 'eval_num_rays_per_batch': 4096, 'eval_num_images_to_sample_from': 100, 'eval_num_times_to_repeat_images': -1, 'eval_image_indices': [0], 'collate_fn': 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['EventName.ITER_TRAIN_TIME', 'EventName.TRAIN_RAYS_PER_SEC', 'EventName.CURR_TEST_PSNR', 'EventName.VIS_RAYS_PER_SEC', 'EventName.TEST_RAYS_PER_SEC', 'EventName.ETA'], 'max_log_size': 10}, 'profiler': 'basic'}, 'viewer': {'relative_log_filename': 'viewer_log_filename.txt', 'websocket_port': None, 'websocket_port_default': 7007, 'websocket_host': '0.0.0.0', 'num_rays_per_chunk': 32768, 'max_num_display_images': 512, 'quit_on_train_completion': False, 'image_format': 'jpeg', 'jpeg_quality': 75, 'make_share_url': False, 'camera_frustum_scale': 0.1, 'default_composite_depth': True}, 'pipeline': {'_target': 'silvr.silvr_pipeline.SiLVRPipeline', 'datamanager': {'_target': 'nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager', 'data': '/home/docker_dev/data/carla_lidar/submap_2.json', 'masks_on_gpu': False, 'images_on_gpu': False, 'dataparser': {'_target': 'silvr.silvr_dataparser.LidarDepthNormalDataParser', 'data': '/home/docker_dev/data/carla_lidar/submap_2.json', 'scale_factor': 1.0, 'downscale_factor': None, 'scene_scale': 1.0, 'orientation_method': 'up', 'center_method': 'poses', 'auto_scale_poses': True, 'eval_mode': 'fraction', 'train_split_fraction': 0.9, 'eval_interval': 8, 'depth_unit_scale_factor': 0.00390625, 'mask_color': None, 'load_3D_points': False}, 'train_num_rays_per_batch': 4096, 'train_num_images_to_sample_from': 500, 'train_num_times_to_repeat_images': -1, 'eval_num_rays_per_batch': 4096, 'eval_num_images_to_sample_from': 100, 'eval_num_times_to_repeat_images': -1, 'eval_image_indices': [0], 'collate_fn': 'nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate', 'camera_res_scale_factor': 1.0, 'patch_size': 1, 'camera_optimizer': None, 'pixel_sampler': {'_target': 'nerfstudio.data.pixel_samplers.PairPixelSampler', 'num_rays_per_batch': 4096, 'keep_full_image': False, 'is_equirectangular': False, 'ignore_mask': False, 'fisheye_crop_radius': None, 'rejection_sample_mask': True, 'max_num_iterations': 100, 'radius': 2}}, 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'cosine'}}, 'camera_opt': {'optimizer': {'_target': 'torch.optim.adam.Adam', 'lr': 0.0006, 'eps': 1e-15, 'max_norm': None, 'weight_decay': 0}, 'scheduler': {'_target': 'nerfstudio.engine.schedulers.ExponentialDecayScheduler', 'lr_pre_warmup': 1e-08, 'lr_final': 0.0001, 'warmup_steps': 0, 'max_steps': 5000, 'ramp': 'cosine'}}}, 'vis': 'wandb', 'data': '/home/docker_dev/data/carla_lidar/submap_2.json', 'prompt': None, 'relative_model_dir': 'nerfstudio_models', 'load_scheduler': True, 'steps_per_save': 2000, 'steps_per_eval_batch': 500, 'steps_per_eval_image': 500, 'steps_per_eval_all_images': 70000, 'max_num_iterations': 5001, 'mixed_precision': True, 'use_grad_scaler': False, 'save_only_latest_checkpoint': True, 'load_dir': None, 'load_step': None, 'load_config': None, 'load_checkpoint': None, 'log_gradients': False, 'gradient_accumulation_steps': {}} +2025-01-01 13:39:28,825 INFO MainThread:4904 [wandb_run.py:_config_callback():1145] config_cb None None {'_target': 'nerfstudio.engine.trainer.Trainer', 'output_dir': '/home/docker_dev/silvr/outputs', 'method_name': 'bayes-lidar-normal-nerfacto', 'experiment_name': 'carla_lidar', 'project_name': 'nerfstudio-project', 'timestamp': '2025-01-01_133918', 'machine': {'seed': 42, 'num_devices': 1, 'num_machines': 1, 'machine_rank': 0, 'dist_url': 'auto', 'device_type': 'cuda'}, 'logging': {'relative_log_dir': '.', 'steps_per_log': 10, 'max_buffer_size': 20, 'local_writer': {'_target': 'nerfstudio.utils.writer.LocalWriter', 'enable': True, 'stats_to_track': ['EventName.ITER_TRAIN_TIME', 'EventName.TRAIN_RAYS_PER_SEC', 'EventName.CURR_TEST_PSNR', 'EventName.VIS_RAYS_PER_SEC', 'EventName.TEST_RAYS_PER_SEC', 'EventName.ETA'], 'max_log_size': 10}, 'profiler': 'basic'}, 'viewer': {'relative_log_filename': 'viewer_log_filename.txt', 'websocket_port': None, 'websocket_port_default': 7007, 'websocket_host': '0.0.0.0', 'num_rays_per_chunk': 32768, 'max_num_display_images': 512, 'quit_on_train_completion': False, 'image_format': 'jpeg', 'jpeg_quality': 75, 'make_share_url': False, 'camera_frustum_scale': 0.1, 'default_composite_depth': True}, 'pipeline': {'_target': 'silvr.silvr_pipeline.SiLVRPipeline', 'datamanager': {'_target': 'nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager', 'data': '/home/docker_dev/data/carla_lidar/submap_2.json', 'masks_on_gpu': False, 'images_on_gpu': False, 'dataparser': {'_target': 'silvr.silvr_dataparser.LidarDepthNormalDataParser', 'data': '/home/docker_dev/data/carla_lidar/submap_2.json', 'scale_factor': 1.0, 'downscale_factor': None, 'scene_scale': 1.0, 'orientation_method': 'up', 'center_method': 'poses', 'auto_scale_poses': True, 'eval_mode': 'fraction', 'train_split_fraction': 0.9, 'eval_interval': 8, 'depth_unit_scale_factor': 0.00390625, 'mask_color': None, 'load_3D_points': False}, 'train_num_rays_per_batch': 4096, 'train_num_images_to_sample_from': 500, 'train_num_times_to_repeat_images': -1, 'eval_num_rays_per_batch': 4096, 'eval_num_images_to_sample_from': 100, 'eval_num_times_to_repeat_images': -1, 'eval_image_indices': [0], 'collate_fn': 'nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate', 'camera_res_scale_factor': 1.0, 'patch_size': 1, 'camera_optimizer': None, 'pixel_sampler': {'_target': 'nerfstudio.data.pixel_samplers.PairPixelSampler', 'num_rays_per_batch': 4096, 'keep_full_image': False, 'is_equirectangular': False, 'ignore_mask': False, 'fisheye_crop_radius': None, 'rejection_sample_mask': True, 'max_num_iterations': 100, 'radius': 2}}, 'model': {'_target': 'silvr.models.bayes_lidar_normal_nerfacto.BayesLidarNormalNerfactoModel', 'enable_collider': True, 'collider_params': {'near_plane': 2.0, 'far_plane': 6.0}, 'loss_coefficients': {'rgb_loss_coarse': 1.0, 'rgb_loss_fine': 1.0}, 'eval_num_rays_per_chunk': 32768, 'prompt': None, 'near_plane': 0.05, 'far_plane': 1000.0, 'background_color': 'last_sample', 'hidden_dim': 64, 'hidden_dim_color': 64, 'hidden_dim_transient': 64, 'num_levels': 16, 'base_res': 16, 'max_res': 2048, 'log2_hashmap_size': 19, 'features_per_level': 2, 'num_proposal_samples_per_ray': [256, 96], 'num_nerf_samples_per_ray': 48, 'proposal_update_every': 5, 'proposal_warmup': 5000, 'num_proposal_iterations': 2, 'use_same_proposal_network': False, 'proposal_net_args_list': [{'hidden_dim': 16, 'log2_hashmap_size': 17, 'num_levels': 5, 'max_res': 128, 'use_linear': False}, {'hidden_dim': 16, 'log2_hashmap_size': 17, 'num_levels': 5, 'max_res': 256, 'use_linear': False}], 'proposal_initial_sampler': 'piecewise', 'interlevel_loss_mult': 1.0, 'distortion_loss_mult': 0.002, 'orientation_loss_mult': 0.0001, 'pred_normal_loss_mult': 0.001, 'use_proposal_weight_anneal': True, 'use_appearance_embedding': True, 'use_average_appearance_embedding': True, 'proposal_weights_anneal_slope': 10.0, 'proposal_weights_anneal_max_num_iters': 1000, 'use_single_jitter': True, 'predict_normals': False, 'disable_scene_contraction': False, 'use_gradient_scaling': False, 'implementation': 'tcnn', 'appearance_embed_dim': 32, 'average_init_density': 1.0, 'camera_optimizer': {'_target': 'nerfstudio.cameras.camera_optimizers.CameraOptimizer', 'mode': 'off', 'trans_l2_penalty': 0.01, 'rot_l2_penalty': 0.001, 'optimizer': None, 'scheduler': None}, 'compute_normals': False, 'filter_out_point': True, 'filter_point_thresh': 0.1, 'ray_num': 4096000, 'max_log_uncertainty': 6, 'min_log_uncertainty': -3, 'use_legacy_log_unc': False, 'depth_loss_mult': 10.0, 'is_euclidean_depth': False, 'depth_sigma': 0.001, 'should_decay_sigma': True, 'starting_depth_sigma': 0.01, 'sigma_decay_rate': 0.99985, 'depth_loss_type': 'DepthLossType.DS_NERF', 'lidar_depth_loss_type': 'LidarDepthLossType.DS_NERF_NEW', 'save_pcd': False, 'save_pcd_folder': 'pcd', 'depth_encoding': 0.00390625, 'dataparser_scale': 0.009196726248362689, 'sky_depth_meter': 250, 'normal_loss_mult': 0.001}}, 'optimizers': {'proposal_networks': {'optimizer': {'_target': 'torch.optim.adam.Adam', 'lr': 0.01, 'eps': 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'load_scheduler': True, 'steps_per_save': 2000, 'steps_per_eval_batch': 500, 'steps_per_eval_image': 500, 'steps_per_eval_all_images': 70000, 'max_num_iterations': 5001, 'mixed_precision': True, 'use_grad_scaler': False, 'save_only_latest_checkpoint': True, 'load_dir': None, 'load_step': None, 'load_config': None, 'load_checkpoint': None, 'log_gradients': False, 'gradient_accumulation_steps': {}} +2025-01-01 13:44:42,497 INFO MainThread:4904 [wandb_setup.py:_flush():68] Configure stats pid to 4904 +2025-01-01 13:44:42,497 INFO MainThread:4904 [wandb_setup.py:_flush():68] Loading settings from /home/docker_dev/.config/wandb/settings +2025-01-01 13:44:42,497 INFO MainThread:4904 [wandb_setup.py:_flush():68] Loading settings from /home/docker_dev/silvr/wandb/settings +2025-01-01 13:44:42,497 INFO MainThread:4904 [wandb_setup.py:_flush():68] Loading settings from environment variables: {'_require_service': 'True'} +2025-01-01 13:44:42,497 INFO MainThread:4904 [wandb_setup.py:_flush():68] Inferring run settings from compute environment: {'program_relpath': 'batch.py', 'program': '/home/docker_dev/silvr/batch.py'} +2025-01-01 13:44:42,497 INFO MainThread:4904 [wandb_init.py:_log_setup():476] Logging user logs to /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_134441/wandb/run-20250101_134442-2eca5j4j/logs/debug.log +2025-01-01 13:44:42,498 INFO MainThread:4904 [wandb_init.py:_log_setup():477] Logging internal logs to /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_134441/wandb/run-20250101_134442-2eca5j4j/logs/debug-internal.log +2025-01-01 13:44:42,498 INFO MainThread:4904 [wandb_init.py:init():516] calling init triggers +2025-01-01 13:44:42,498 INFO MainThread:4904 [wandb_init.py:init():519] wandb.init called with sweep_config: {} +config: {} +2025-01-01 13:44:42,498 INFO MainThread:4904 [wandb_init.py:init():535] re-initializing run, found existing run on stack: 9apx5qkl +2025-01-01 13:44:42,498 INFO MainThread:4904 [wandb_run.py:_finish():1720] finishing run ethantao96/nerfstudio-project/9apx5qkl +2025-01-01 13:44:42,498 INFO MainThread:4904 [wandb_run.py:_atexit_cleanup():1923] got exitcode: 0 +2025-01-01 13:44:42,498 INFO MainThread:4904 [wandb_run.py:_restore():1906] restore +2025-01-01 13:44:42,498 INFO MainThread:4904 [wandb_run.py:_restore():1912] restore done +2025-01-01 13:44:42,501 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 1 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19620776 + total_bytes: 19620776 +} + +2025-01-01 13:44:42,740 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 1 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19620776 + total_bytes: 19620776 +} + +2025-01-01 13:44:44,919 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 1 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19620776 + total_bytes: 19620776 +} + +2025-01-01 13:44:45,129 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19620776 + total_bytes: 19666176 +} + +2025-01-01 13:44:45,232 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19620776 + total_bytes: 19666176 +} + +2025-01-01 13:44:45,335 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19636078 + total_bytes: 19666176 +} + +2025-01-01 13:44:45,438 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19666176 + total_bytes: 19666176 +} + +2025-01-01 13:44:45,541 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19666176 + total_bytes: 19666176 +} + +2025-01-01 13:44:45,644 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19666176 + total_bytes: 19666176 +} + +2025-01-01 13:44:45,747 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19666176 + total_bytes: 19666176 +} + +2025-01-01 13:44:45,850 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19666176 + total_bytes: 19666176 +} + +2025-01-01 13:44:46,438 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19666176 + total_bytes: 19666176 +} + +2025-01-01 13:44:46,786 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: done: true +exit_result { +} +file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19666176 + total_bytes: 19666176 +} +local_info { +} + +2025-01-01 13:44:47,897 INFO MainThread:4904 [wandb_run.py:_footer_history_summary_info():3321] rendering history +2025-01-01 13:44:47,898 INFO MainThread:4904 [wandb_run.py:_footer_history_summary_info():3353] rendering summary +2025-01-01 13:44:47,900 INFO MainThread:4904 [wandb_run.py:_footer_sync_info():3277] logging synced files diff --git a/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918/wandb/run-20250101_133920-9apx5qkl/files/config.yaml b/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918/wandb/run-20250101_133920-9apx5qkl/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0fae9eaa7f93d774485c5ea6ccef0dc28d065e65 --- /dev/null +++ b/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918/wandb/run-20250101_133920-9apx5qkl/files/config.yaml @@ -0,0 +1,326 @@ +wandb_version: 1 + +_target: + desc: null + value: nerfstudio.engine.trainer.Trainer +_wandb: + desc: null + value: + cli_version: 0.13.3 + framework: torch + is_jupyter_run: false + is_kaggle_kernel: false + python_version: 3.10.12 + start_time: 1735738764.3636 + t: + 1: + - 1 + - 5 + - 41 + - 53 + - 55 + 2: + - 1 + - 5 + - 41 + - 53 + - 55 + 3: + - 2 + - 13 + - 23 + 4: 3.10.12 + 5: 0.13.3 + 8: + - 5 +data: + desc: null + value: /home/docker_dev/data/carla_lidar/submap_2.json +experiment_name: + desc: null + value: carla_lidar +gradient_accumulation_steps: + desc: null + value: {} +load_checkpoint: + desc: null + value: null +load_config: + desc: null + value: null +load_dir: + desc: null + value: null +load_scheduler: + desc: null + value: true +load_step: + desc: null + value: null +log_gradients: + desc: null + value: false +logging: + desc: null + value: + local_writer: + _target: nerfstudio.utils.writer.LocalWriter + enable: true + max_log_size: 10 + stats_to_track: + - EventName.ITER_TRAIN_TIME + - EventName.TRAIN_RAYS_PER_SEC + - EventName.CURR_TEST_PSNR + - EventName.VIS_RAYS_PER_SEC + - EventName.TEST_RAYS_PER_SEC + - EventName.ETA + max_buffer_size: 20 + profiler: basic + relative_log_dir: . + steps_per_log: 10 +machine: + desc: null + value: + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: + desc: null + value: 5001 +method_name: + desc: null + value: bayes-lidar-normal-nerfacto +mixed_precision: + desc: null + value: true +optimizers: + desc: null + value: + camera_opt: + optimizer: + _target: torch.optim.adam.Adam + eps: 1.0e-15 + lr: 0.0006 + max_norm: null + weight_decay: 0 + scheduler: + _target: nerfstudio.engine.schedulers.ExponentialDecayScheduler + lr_final: 0.0001 + lr_pre_warmup: 1.0e-08 + max_steps: 5000 + ramp: cosine + warmup_steps: 0 + fields: + optimizer: + _target: torch.optim.adam.Adam + eps: 1.0e-15 + lr: 0.01 + max_norm: null + weight_decay: 0 + scheduler: + _target: nerfstudio.engine.schedulers.ExponentialDecayScheduler + lr_final: 0.0001 + lr_pre_warmup: 1.0e-08 + max_steps: 200000 + ramp: cosine + warmup_steps: 0 + proposal_networks: + optimizer: + _target: torch.optim.adam.Adam + eps: 1.0e-15 + lr: 0.01 + max_norm: null + weight_decay: 0 + scheduler: + _target: nerfstudio.engine.schedulers.ExponentialDecayScheduler + lr_final: 0.0001 + lr_pre_warmup: 1.0e-08 + max_steps: 200000 + ramp: cosine + warmup_steps: 0 +output_dir: + desc: null + value: /home/docker_dev/silvr/outputs +pipeline: + desc: null + value: + _target: silvr.silvr_pipeline.SiLVRPipeline + datamanager: + _target: nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager + camera_optimizer: null + camera_res_scale_factor: 1.0 + collate_fn: nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate + data: /home/docker_dev/data/carla_lidar/submap_2.json + dataparser: + _target: silvr.silvr_dataparser.LidarDepthNormalDataParser + auto_scale_poses: true + center_method: poses + data: /home/docker_dev/data/carla_lidar/submap_2.json + 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: + - 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: + _target: 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: + _target: 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: + _target: 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: 0.009196726248362689 + depth_encoding: 0.00390625 + depth_loss_mult: 10.0 + depth_loss_type: DepthLossType.DS_NERF + 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: LidarDepthLossType.DS_NERF_NEW + 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: + - 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 + 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21.298 ms 873.201 ms 193.80 K +4970 (99.38%) 21.377 ms 662.681 ms 193.02 K +4980 (99.58%) 21.330 ms 447.931 ms 193.59 K ]8;id=556932;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/utils/writer.py\writer.py]8;;\:]8;id=586075;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/utils/writer.py#448\448]8;;\ +4990 (99.78%) 21.273 ms 234.007 ms 194.17 K +Step (% Done) Train Iter (time) ETA (time) Train Rays / Sec 70.68 K +----------------------------------------------------------------------------------- +0 (0.00%) 3 s, 44.009 ms 4 h, 13 m, 43 s +10 (0.20%) 300.208 ms 24 m, 58 s 157.91 K +30 (0.60%) 23.374 ms 1 m, 56 s 177.22 K +40 (0.80%) 23.390 ms 1 m, 56 s 177.11 K +50 (1.00%) 23.333 ms 1 m, 55 s 177.52 K +60 (1.20%) 23.359 ms 1 m, 55 s 177.43 K +70 (1.40%) 23.518 ms 1 m, 55 s 176.33 K +80 (1.60%) 23.490 ms 1 m, 55 s 176.53 K +90 (1.80%) 23.487 ms 1 m, 55 s 176.46 K + + + + + + +500 (10.00%) 24.957 ms 1 m, 52 s 165.97 K 628.82 K +/usr/local/lib/python3.10/dist-packages/torchmetrics/utilities/prints.py:70: FutureWarning: Importing `spectral_angle_mapper` from `torchmetrics.functional` was deprecated and will be removed in 2.0. Import `spectral_angle_mapper` from `torchmetrics.image` instead. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +5000 (99.98%) 22.843 ms 22.843 ms 180.61 K 610.31 K +╭────────────────────────────────────────────── 🎉 Training Finished 🎉 ───────────────────────────────────────────────╮ +│ ╷ │ +│ Config File │ /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918… │ +│ Checkpoint Directory │ /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918… │ +│ ╵ │ +╰──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯ +Printing profiling stats, from longest to shortest duration in seconds +SiLVRPipeline.get_eval_image_metrics_and_images: 0.6445 +VanillaPipeline.get_eval_image_metrics_and_images: 0.6444 +SiLVRPipeline.get_eval_loss_dict: 0.0329 +VanillaPipeline.get_eval_loss_dict: 0.0328 +Trainer.train_iteration: 0.0227 +VanillaPipeline.get_train_loss_dict: 0.0117 +Trainer.eval_iteration: 0.0014 +[13:42:00] Auto image downscale factor of 1 ]8;id=290782;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/data/dataparsers/nerfstudio_dataparser.py\nerfstudio_dataparser.py]8;;\:]8;id=803013;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/data/dataparsers/nerfstudio_dataparser.py#484\484]8;;\ +Setting up training dataset... +Caching 500 out of 684 images, without resampling. +Setting up evaluation dataset... +Caching all 76 images. +Loading latest checkpoint from load_dir +✅ Done loading checkpoint from +/home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918/nerfstudio_models/step-00000500 +0.ckpt +Loading data batch ━━━━━━━━━━━━━━━━━━━╺━━━━━━━━━━━━━━━━━━━━  48% 0:00:02 +Computing model uncertainty: 0%| | 0/2000 [00:00, but the default value None has type . We'll try to handle this gracefully, but it may cause unexpected behavior. + viewer=ViewerConfig(me.ETA: 'ETA (time)'>,ome/docker_dev/data/carla_lidar/submap_3.json --vis wandb --max_num_iterations 5001 --steps_per_eval_image 500 --steps_per_eval_all_images 70000 --output_dir /home/docker_dev/silvr/outputs --pipeline.datamanager.train-num-images-to-sample-from 500 --pipeline.datamanager.eval-num-images-to-sample-from 100 --pipeline.model.camera-optimizer.mode off --optimizers.camera-opt.optimizer.lr 0.0006 --pipeline.model.lidar-depth-loss-type DS_NERF_NEW --pipeline.model.depth-loss-mult 10 --pipeline.model.normal-loss-mult 0.001 --pipeline.model.depth-sigma 0.001 --pipeline.model.should-decay-sigma True --pipeline.model.starting-depth-sigma 0.01 --pipeline.model.sigma-decay-rate 0.99985 --pipeline.model.save-pcd False --pipeline.model.is-euclidean-depth False + ), + max_log_size=10 + ), + profiler='basic' + ), + viewer=ViewerConfig(me.ETA: 'ETA (time)'>,ome/docker_dev/data/carla_lidar/submap_3.json --vis wandb --max_num_iterations 5001 --steps_per_eval_image 500 --steps_per_eval_all_images 70000 --output_dir /home/docker_dev/silvr/outputs --pipeline.datamanager.train-num-images-to-sample-from 500 --pipeline.datamanager.eval-num-images-to-sample-from 100 --pipeline.model.camera-optimizer.mode off --optimizers.camera-opt.optimizer.lr 0.0006 --pipeline.model.lidar-depth-loss-type DS_NERF_NEW --pipeline.model.depth-loss-mult 10 --pipeline.model.normal-loss-mult 0.001 --pipeline.model.depth-sigma 0.001 --pipeline.model.should-decay-sigma True --pipeline.model.starting-depth-sigma 0.01 --pipeline.model.sigma-decay-rate 0.99985 --pipeline.model.save-pcd False --pipeline.model.is-euclidean-depth False + relative_log_filename='viewer_log_filename.txt', + websocket_port=None, + websocket_port_default=7007, + websocket_host='0.0.0.0', + num_rays_per_chunk=32768, + max_num_display_images=512, + quit_on_train_completion=False, + image_format='jpeg', + jpeg_quality=75, + make_share_url=False, + camera_frustum_scale=0.1, + default_composite_depth=True + ), + pipeline=SiLVRPipelineConfig( + _target=, + datamanager=VanillaDataManagerConfig( + _target=nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager[silvr.lidar_dataset.LidarDepthNorma +lDataset], + data=PosixPath('/home/docker_dev/data/carla_lidar/submap_3.json'), + masks_on_gpu=False, + images_on_gpu=False, + dataparser=LidarDepthNormalDataParserConfig( + _target=, + data=PosixPath('/home/docker_dev/data/carla_lidar/submap_2.json'), + scale_factor=1.0, + downscale_factor=None, + scene_scale=1.0, + orientation_method='up', + center_method='poses', + auto_scale_poses=True, + eval_mode='fraction', + train_split_fraction=0.9, + eval_interval=8, + depth_unit_scale_factor=0.00390625, + mask_color=None, + load_3D_points=False + ), + train_num_rays_per_batch=4096, + train_num_images_to_sample_from=500, + train_num_times_to_repeat_images=-1, + eval_num_rays_per_batch=4096, + eval_num_images_to_sample_from=100, + eval_num_times_to_repeat_images=-1, + eval_image_indices=(0,), + collate_fn=, + camera_res_scale_factor=1.0, + patch_size=1, + camera_optimizer=None, + pixel_sampler=PairPixelSamplerConfig( + _target=, + num_rays_per_batch=4096, + keep_full_image=False, + is_equirectangular=False, + ignore_mask=False, + fisheye_crop_radius=None, + rejection_sample_mask=True, + max_num_iterations=100, + radius=2 + ) + ), + model=BayesLidarNormalNerfactoModelConfig( + _target=, + enable_collider=True, + collider_params={'near_plane': 2.0, 'far_plane': 6.0}, + loss_coefficients={'rgb_loss_coarse': 1.0, 'rgb_loss_fine': 1.0}, + eval_num_rays_per_chunk=32768, + prompt=None, + near_plane=0.05, + far_plane=1000.0, + background_color='last_sample', + hidden_dim=64, + hidden_dim_color=64, + hidden_dim_transient=64, + num_levels=16, + base_res=16, + max_res=2048, + log2_hashmap_size=19, + features_per_level=2, + num_proposal_samples_per_ray=(256, 96), + num_nerf_samples_per_ray=48, + proposal_update_every=5, + proposal_warmup=5000, + num_proposal_iterations=2, + use_same_proposal_network=False, + proposal_net_args_list=[ + {'hidden_dim': 16, 'log2_hashmap_size': 17, 'num_levels': 5, 'max_res': 128, 'use_linear': False}, + {'hidden_dim': 16, 'log2_hashmap_size': 17, 'num_levels': 5, 'max_res': 256, 'use_linear': False} + ], + proposal_initial_sampler='piecewise', + interlevel_loss_mult=1.0, + distortion_loss_mult=0.002, + orientation_loss_mult=0.0001, + pred_normal_loss_mult=0.001, + use_proposal_weight_anneal=True, + use_appearance_embedding=True, + use_average_appearance_embedding=True, + proposal_weights_anneal_slope=10.0, + proposal_weights_anneal_max_num_iters=1000, + use_single_jitter=True, + predict_normals=False, + disable_scene_contraction=False, + use_gradient_scaling=False, + implementation='tcnn', + appearance_embed_dim=32, + average_init_density=1.0, + camera_optimizer=CameraOptimizerConfig( + _target=, + mode='off', + trans_l2_penalty=0.01, + rot_l2_penalty=0.001, + optimizer=None, + scheduler=None + ), + compute_normals=False, + filter_out_point=True, + filter_point_thresh=0.1, + ray_num=4096000, + max_log_uncertainty=6, + min_log_uncertainty=-3, + use_legacy_log_unc=False, + depth_loss_mult=10.0, + is_euclidean_depth=False, + depth_sigma=0.001, + should_decay_sigma=True, + starting_depth_sigma=0.01, + sigma_decay_rate=0.99985, + depth_loss_type=, + lidar_depth_loss_type=, + save_pcd=False, + save_pcd_folder='pcd', + depth_encoding=0.00390625, + dataparser_scale=None, + sky_depth_meter=250, + normal_loss_mult=0.001 + ) + ), + optimizers={ + 'proposal_networks': { + 'optimizer': AdamOptimizerConfig( + _target=, + lr=0.01, + eps=1e-15, + max_norm=None, + weight_decay=0 + ), + 'scheduler': ExponentialDecaySchedulerConfig( + _target=, + lr_pre_warmup=1e-08, + lr_final=0.0001, + warmup_steps=0, + max_steps=200000, + ramp='cosine' + ) + }, + 'fields': { + 'optimizer': AdamOptimizerConfig( + _target=, + lr=0.01, + eps=1e-15, + max_norm=None, + weight_decay=0 + ), + 'scheduler': ExponentialDecaySchedulerConfig( + _target=, + lr_pre_warmup=1e-08, + lr_final=0.0001, + warmup_steps=0, + max_steps=200000, + ramp='cosine' + ) + }, + 'camera_opt': { + 'optimizer': AdamOptimizerConfig( + _target=, + lr=0.0006, + eps=1e-15, + max_norm=None, + weight_decay=0 + ), + 'scheduler': ExponentialDecaySchedulerConfig( + _target=, + lr_pre_warmup=1e-08, + lr_final=0.0001, + warmup_steps=0, + max_steps=5000, + ramp='cosine' + ) + } + }, + vis='wandb', + data=PosixPath('/home/docker_dev/data/carla_lidar/submap_3.json'), + prompt=None, + relative_model_dir=PosixPath('nerfstudio_models'), + load_scheduler=True, + steps_per_save=2000, + steps_per_eval_batch=500, + steps_per_eval_image=500, + steps_per_eval_all_images=70000, + max_num_iterations=5001, + mixed_precision=True, + use_grad_scaler=False, + save_only_latest_checkpoint=True, + load_dir=None, + load_step=None, + load_config=None, + load_checkpoint=None, + log_gradients=False, + gradient_accumulation_steps={} +) +──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────── + Saving config to: ]8;id=208293;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/configs/experiment_config.py\experiment_config.py]8;;\:]8;id=723283;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/configs/experiment_config.py#136\136]8;;\ + /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_13 + 4441/config.yml + Saving checkpoints to: ]8;id=288389;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/engine/trainer.py\trainer.py]8;;\:]8;id=256787;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/engine/trainer.py#136\136]8;;\ + /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_134441/nerfs + tudio_models + Auto image downscale factor of 1 ]8;id=709570;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/data/dataparsers/nerfstudio_dataparser.py\nerfstudio_dataparser.py]8;;\:]8;id=776646;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/data/dataparsers/nerfstudio_dataparser.py#484\484]8;;\ +Setting up training dataset... +Caching 500 out of 573 images, without resampling. +Setting up evaluation dataset... +Caching all 63 images. +[?25h +[?25h \ No newline at end of file diff --git a/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918/wandb/run-20250101_133920-9apx5qkl/files/requirements.txt b/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918/wandb/run-20250101_133920-9apx5qkl/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..48f176a1ebc63ab3da28c223203eb428a6b79b17 --- /dev/null +++ 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'nerfstudio.engine.trainer.Trainer', 'output_dir': '/home/docker_dev/silvr/outputs', 'method_name': 'bayes-lidar-normal-nerfacto', 'experiment_name': 'carla_lidar', 'project_name': 'nerfstudio-project', 'timestamp': '2025-01-01_133918', 'machine': {'seed': 42, 'num_devices': 1, 'num_machines': 1, 'machine_rank': 0, 'dist_url': 'auto', 'device_type': 'cuda'}, 'logging': {'relative_log_dir': '.', 'steps_per_log': 10, 'max_buffer_size': 20, 'local_writer': {'_target': 'nerfstudio.utils.writer.LocalWriter', 'enable': True, 'stats_to_track': ['EventName.ITER_TRAIN_TIME', 'EventName.TRAIN_RAYS_PER_SEC', 'EventName.CURR_TEST_PSNR', 'EventName.VIS_RAYS_PER_SEC', 'EventName.TEST_RAYS_PER_SEC', 'EventName.ETA'], 'max_log_size': 10}, 'profiler': 'basic'}, 'viewer': {'relative_log_filename': 'viewer_log_filename.txt', 'websocket_port': None, 'websocket_port_default': 7007, 'websocket_host': '0.0.0.0', 'num_rays_per_chunk': 32768, 'max_num_display_images': 512, 'quit_on_train_completion': False, 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'eval_num_images_to_sample_from': 100, 'eval_num_times_to_repeat_images': -1, 'eval_image_indices': [0], 'collate_fn': 'nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate', 'camera_res_scale_factor': 1.0, 'patch_size': 1, 'camera_optimizer': None, 'pixel_sampler': {'_target': 'nerfstudio.data.pixel_samplers.PairPixelSampler', 'num_rays_per_batch': 4096, 'keep_full_image': False, 'is_equirectangular': False, 'ignore_mask': False, 'fisheye_crop_radius': None, 'rejection_sample_mask': True, 'max_num_iterations': 100, 'radius': 2}}, 'model': {'_target': 'silvr.models.bayes_lidar_normal_nerfacto.BayesLidarNormalNerfactoModel', 'enable_collider': True, 'collider_params': {'near_plane': 2.0, 'far_plane': 6.0}, 'loss_coefficients': {'rgb_loss_coarse': 1.0, 'rgb_loss_fine': 1.0}, 'eval_num_rays_per_chunk': 32768, 'prompt': None, 'near_plane': 0.05, 'far_plane': 1000.0, 'background_color': 'last_sample', 'hidden_dim': 64, 'hidden_dim_color': 64, 'hidden_dim_transient': 64, 'num_levels': 16, 'base_res': 16, 'max_res': 2048, 'log2_hashmap_size': 19, 'features_per_level': 2, 'num_proposal_samples_per_ray': [256, 96], 'num_nerf_samples_per_ray': 48, 'proposal_update_every': 5, 'proposal_warmup': 5000, 'num_proposal_iterations': 2, 'use_same_proposal_network': False, 'proposal_net_args_list': [{'hidden_dim': 16, 'log2_hashmap_size': 17, 'num_levels': 5, 'max_res': 128, 'use_linear': False}, {'hidden_dim': 16, 'log2_hashmap_size': 17, 'num_levels': 5, 'max_res': 256, 'use_linear': False}], 'proposal_initial_sampler': 'piecewise', 'interlevel_loss_mult': 1.0, 'distortion_loss_mult': 0.002, 'orientation_loss_mult': 0.0001, 'pred_normal_loss_mult': 0.001, 'use_proposal_weight_anneal': True, 'use_appearance_embedding': True, 'use_average_appearance_embedding': True, 'proposal_weights_anneal_slope': 10.0, 'proposal_weights_anneal_max_num_iters': 1000, 'use_single_jitter': True, 'predict_normals': False, 'disable_scene_contraction': False, 'use_gradient_scaling': False, 'implementation': 'tcnn', 'appearance_embed_dim': 32, 'average_init_density': 1.0, 'camera_optimizer': {'_target': 'nerfstudio.cameras.camera_optimizers.CameraOptimizer', 'mode': 'off', 'trans_l2_penalty': 0.01, 'rot_l2_penalty': 0.001, 'optimizer': None, 'scheduler': None}, 'compute_normals': False, 'filter_out_point': True, 'filter_point_thresh': 0.1, 'ray_num': 4096000, 'max_log_uncertainty': 6, 'min_log_uncertainty': -3, 'use_legacy_log_unc': False, 'depth_loss_mult': 10.0, 'is_euclidean_depth': False, 'depth_sigma': 0.001, 'should_decay_sigma': True, 'starting_depth_sigma': 0.01, 'sigma_decay_rate': 0.99985, 'depth_loss_type': 'DepthLossType.DS_NERF', 'lidar_depth_loss_type': 'LidarDepthLossType.DS_NERF_NEW', 'save_pcd': False, 'save_pcd_folder': 'pcd', 'depth_encoding': 0.00390625, 'dataparser_scale': 0.009196726248362689, 'sky_depth_meter': 250, 'normal_loss_mult': 0.001}}, 'optimizers': {'proposal_networks': {'optimizer': {'_target': 'torch.optim.adam.Adam', 'lr': 0.01, 'eps': 1e-15, 'max_norm': None, 'weight_decay': 0}, 'scheduler': {'_target': 'nerfstudio.engine.schedulers.ExponentialDecayScheduler', 'lr_pre_warmup': 1e-08, 'lr_final': 0.0001, 'warmup_steps': 0, 'max_steps': 200000, 'ramp': 'cosine'}}, 'fields': {'optimizer': {'_target': 'torch.optim.adam.Adam', 'lr': 0.01, 'eps': 1e-15, 'max_norm': None, 'weight_decay': 0}, 'scheduler': {'_target': 'nerfstudio.engine.schedulers.ExponentialDecayScheduler', 'lr_pre_warmup': 1e-08, 'lr_final': 0.0001, 'warmup_steps': 0, 'max_steps': 200000, 'ramp': 'cosine'}}, 'camera_opt': {'optimizer': {'_target': 'torch.optim.adam.Adam', 'lr': 0.0006, 'eps': 1e-15, 'max_norm': None, 'weight_decay': 0}, 'scheduler': {'_target': 'nerfstudio.engine.schedulers.ExponentialDecayScheduler', 'lr_pre_warmup': 1e-08, 'lr_final': 0.0001, 'warmup_steps': 0, 'max_steps': 5000, 'ramp': 'cosine'}}}, 'vis': 'wandb', 'data': '/home/docker_dev/data/carla_lidar/submap_2.json', 'prompt': None, 'relative_model_dir': 'nerfstudio_models', 'load_scheduler': True, 'steps_per_save': 2000, 'steps_per_eval_batch': 500, 'steps_per_eval_image': 500, 'steps_per_eval_all_images': 70000, 'max_num_iterations': 5001, 'mixed_precision': True, 'use_grad_scaler': False, 'save_only_latest_checkpoint': True, 'load_dir': None, 'load_step': None, 'load_config': None, 'load_checkpoint': None, 'log_gradients': False, 'gradient_accumulation_steps': {}} +2025-01-01 13:44:42,497 INFO MainThread:4904 [wandb_setup.py:_flush():68] Configure stats pid to 4904 +2025-01-01 13:44:42,497 INFO MainThread:4904 [wandb_setup.py:_flush():68] Loading settings from /home/docker_dev/.config/wandb/settings +2025-01-01 13:44:42,497 INFO MainThread:4904 [wandb_setup.py:_flush():68] Loading settings from /home/docker_dev/silvr/wandb/settings +2025-01-01 13:44:42,497 INFO MainThread:4904 [wandb_setup.py:_flush():68] Loading settings from environment variables: {'_require_service': 'True'} +2025-01-01 13:44:42,497 INFO MainThread:4904 [wandb_setup.py:_flush():68] Inferring run settings from compute environment: {'program_relpath': 'batch.py', 'program': '/home/docker_dev/silvr/batch.py'} +2025-01-01 13:44:42,497 INFO MainThread:4904 [wandb_init.py:_log_setup():476] Logging user logs to /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_134441/wandb/run-20250101_134442-2eca5j4j/logs/debug.log +2025-01-01 13:44:42,498 INFO MainThread:4904 [wandb_init.py:_log_setup():477] Logging internal logs to /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_134441/wandb/run-20250101_134442-2eca5j4j/logs/debug-internal.log +2025-01-01 13:44:42,498 INFO MainThread:4904 [wandb_init.py:init():516] calling init triggers +2025-01-01 13:44:42,498 INFO MainThread:4904 [wandb_init.py:init():519] wandb.init called with sweep_config: {} +config: {} +2025-01-01 13:44:42,498 INFO MainThread:4904 [wandb_init.py:init():535] re-initializing run, found existing run on stack: 9apx5qkl +2025-01-01 13:44:42,498 INFO MainThread:4904 [wandb_run.py:_finish():1720] finishing run ethantao96/nerfstudio-project/9apx5qkl +2025-01-01 13:44:42,498 INFO MainThread:4904 [wandb_run.py:_atexit_cleanup():1923] got exitcode: 0 +2025-01-01 13:44:42,498 INFO MainThread:4904 [wandb_run.py:_restore():1906] restore +2025-01-01 13:44:42,498 INFO MainThread:4904 [wandb_run.py:_restore():1912] restore done +2025-01-01 13:44:42,501 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 1 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19620776 + total_bytes: 19620776 +} + +2025-01-01 13:44:42,740 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 1 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19620776 + total_bytes: 19620776 +} + +2025-01-01 13:44:44,919 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 1 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19620776 + total_bytes: 19620776 +} + +2025-01-01 13:44:45,129 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19620776 + total_bytes: 19666176 +} + +2025-01-01 13:44:45,232 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19620776 + total_bytes: 19666176 +} + +2025-01-01 13:44:45,335 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19636078 + total_bytes: 19666176 +} + +2025-01-01 13:44:45,438 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19666176 + total_bytes: 19666176 +} + +2025-01-01 13:44:45,541 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19666176 + total_bytes: 19666176 +} + +2025-01-01 13:44:45,644 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19666176 + total_bytes: 19666176 +} + +2025-01-01 13:44:45,747 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19666176 + total_bytes: 19666176 +} + +2025-01-01 13:44:45,850 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19666176 + total_bytes: 19666176 +} + +2025-01-01 13:44:46,438 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19666176 + total_bytes: 19666176 +} + +2025-01-01 13:44:46,786 INFO MainThread:4904 [wandb_run.py:_on_finish():2224] got exit ret: done: true +exit_result { +} +file_counts { + wandb_count: 5 + media_count: 50 +} +pusher_stats { + uploaded_bytes: 19666176 + total_bytes: 19666176 +} +local_info { +} + +2025-01-01 13:44:47,897 INFO MainThread:4904 [wandb_run.py:_footer_history_summary_info():3321] rendering history +2025-01-01 13:44:47,898 INFO MainThread:4904 [wandb_run.py:_footer_history_summary_info():3353] rendering summary +2025-01-01 13:44:47,900 INFO MainThread:4904 [wandb_run.py:_footer_sync_info():3277] logging synced files diff --git a/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918/wandb/run-20250101_133920-9apx5qkl/run-9apx5qkl.wandb b/carla_lidar_sky/tro-results/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_133918/wandb/run-20250101_133920-9apx5qkl/run-9apx5qkl.wandb new file mode 100644 index 0000000000000000000000000000000000000000..509fd062d1948610ab941d22ff3316702c64b771 --- 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submap_3.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 + - / + - home + - docker_dev + - data + - carla_lidar + - submap_2.json + 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: 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'nerfstudio.engine.trainer.Trainer', 'output_dir': '/home/docker_dev/silvr/outputs', 'method_name': 'bayes-lidar-normal-nerfacto', 'experiment_name': 'carla_lidar', 'project_name': 'nerfstudio-project', 'timestamp': '2025-01-01_134441', 'machine': {'seed': 42, 'num_devices': 1, 'num_machines': 1, 'machine_rank': 0, 'dist_url': 'auto', 'device_type': 'cuda'}, 'logging': {'relative_log_dir': '.', 'steps_per_log': 10, 'max_buffer_size': 20, 'local_writer': {'_target': 'nerfstudio.utils.writer.LocalWriter', 'enable': True, 'stats_to_track': ['EventName.ITER_TRAIN_TIME', 'EventName.TRAIN_RAYS_PER_SEC', 'EventName.CURR_TEST_PSNR', 'EventName.VIS_RAYS_PER_SEC', 'EventName.TEST_RAYS_PER_SEC', 'EventName.ETA'], 'max_log_size': 10}, 'profiler': 'basic'}, 'viewer': {'relative_log_filename': 'viewer_log_filename.txt', 'websocket_port': None, 'websocket_port_default': 7007, 'websocket_host': '0.0.0.0', 'num_rays_per_chunk': 32768, 'max_num_display_images': 512, 'quit_on_train_completion': False, 'image_format': 'jpeg', 'jpeg_quality': 75, 'make_share_url': False, 'camera_frustum_scale': 0.1, 'default_composite_depth': True}, 'pipeline': {'_target': 'silvr.silvr_pipeline.SiLVRPipeline', 'datamanager': {'_target': 'nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager', 'data': '/home/docker_dev/data/carla_lidar/submap_3.json', 'masks_on_gpu': False, 'images_on_gpu': False, 'dataparser': {'_target': 'silvr.silvr_dataparser.LidarDepthNormalDataParser', 'data': '/home/docker_dev/data/carla_lidar/submap_3.json', 'scale_factor': 1.0, 'downscale_factor': None, 'scene_scale': 1.0, 'orientation_method': 'up', 'center_method': 'poses', 'auto_scale_poses': True, 'eval_mode': 'fraction', 'train_split_fraction': 0.9, 'eval_interval': 8, 'depth_unit_scale_factor': 0.00390625, 'mask_color': None, 'load_3D_points': False}, 'train_num_rays_per_batch': 4096, 'train_num_images_to_sample_from': 500, 'train_num_times_to_repeat_images': -1, 'eval_num_rays_per_batch': 4096, 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22.874 ms 937.835 ms 180.45 K +4970 (99.38%) 22.893 ms 709.684 ms 180.23 K +4980 (99.58%) 22.886 ms 480.606 ms 180.29 K ]8;id=477538;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/utils/writer.py\writer.py]8;;\:]8;id=434572;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/utils/writer.py#448\448]8;;\ +4990 (99.78%) 22.845 ms 251.293 ms 180.59 K +Step (% Done) Train Iter (time) ETA (time) Train Rays / Sec 10.31 K +----------------------------------------------------------------------------------- +0 (0.00%) 3 s, 35.878 ms 4 h, 13 m, 2 s +10 (0.20%) 299.042 ms 24 m, 52 s 161.54 K +30 (0.60%) 23.146 ms 1 m, 55 s 179.06 K +40 (0.80%) 23.211 ms 1 m, 55 s 178.42 K +50 (1.00%) 23.253 ms 1 m, 55 s 178.04 K +60 (1.20%) 23.340 ms 1 m, 55 s 177.38 K +70 (1.40%) 23.415 ms 1 m, 55 s 176.72 K +80 (1.60%) 23.515 ms 1 m, 55 s 176.17 K +90 (1.80%) 23.526 ms 1 m, 55 s 176.23 K + + + + + + +500 (10.00%) 24.209 ms 1 m, 48 s 171.07 K 551.01 K +/usr/local/lib/python3.10/dist-packages/torchmetrics/utilities/prints.py:70: FutureWarning: Importing `spectral_angle_mapper` from `torchmetrics.functional` was deprecated and will be removed in 2.0. Import `spectral_angle_mapper` from `torchmetrics.image` instead. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +5000 (99.98%) 21.842 ms 21.842 ms 189.13 K 615.61 K +╭────────────────────────────────────────────── 🎉 Training Finished 🎉 ───────────────────────────────────────────────╮ +│ ╷ │ +│ Config File │ /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_134441… │ +│ Checkpoint Directory │ /home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_134441… │ +│ ╵ │ +╰──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯ +Printing profiling stats, from longest to shortest duration in seconds +SiLVRPipeline.get_eval_image_metrics_and_images: 0.6503 +VanillaPipeline.get_eval_image_metrics_and_images: 0.6502 +SiLVRPipeline.get_eval_loss_dict: 0.0271 +VanillaPipeline.get_eval_loss_dict: 0.0271 +Trainer.train_iteration: 0.0229 +VanillaPipeline.get_train_loss_dict: 0.0118 +Trainer.eval_iteration: 0.0014 +[13:47:24] Auto image downscale factor of 1 ]8;id=936021;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/data/dataparsers/nerfstudio_dataparser.py\nerfstudio_dataparser.py]8;;\:]8;id=787443;file:///usr/local/lib/python3.10/dist-packages/nerfstudio/data/dataparsers/nerfstudio_dataparser.py#484\484]8;;\ +Setting up training dataset... +Caching 500 out of 573 images, without resampling. +Setting up evaluation dataset... +Caching all 63 images. +✅ Done loading checkpoint from +/home/docker_dev/silvr/outputs/carla_lidar/bayes-lidar-normal-nerfacto/2025-01-01_134441/nerfstudio_models/step-00000500 +0.ckpt +Loading data batch ━━━━━━━━╸━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━  22% 0:00:03 +Computing model uncertainty: 0%| | 0/2000 [00:00