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| from yacs.config import CfgNode as CN | |
| _CN = CN() | |
| ############## Model ############## | |
| _CN.MODEL = None # options: ['MicKey'] | |
| _CN.DEBUG = False | |
| # MicKey configuration | |
| _CN.MICKEY = CN() | |
| _CN.MICKEY.DINOV2 = CN() | |
| _CN.MICKEY.DINOV2.DOWN_FACTOR = None | |
| _CN.MICKEY.DINOV2.CHANNEL_DIM = None | |
| _CN.MICKEY.DINOV2.FLOAT16 = None | |
| _CN.MICKEY.KP_HEADS = CN() | |
| _CN.MICKEY.KP_HEADS.BLOCKS_DIM = None | |
| _CN.MICKEY.KP_HEADS.BN = None | |
| _CN.MICKEY.KP_HEADS.USE_SOFTMAX = None | |
| _CN.MICKEY.KP_HEADS.USE_DEPTHSIGMOID = None | |
| _CN.MICKEY.KP_HEADS.MAX_DEPTH = None | |
| _CN.MICKEY.KP_HEADS.POS_ENCODING = None | |
| _CN.MICKEY.DSC_HEAD = CN() | |
| _CN.MICKEY.DSC_HEAD.LAST_DIM = None | |
| _CN.MICKEY.DSC_HEAD.BLOCKS_DIM = None | |
| _CN.MICKEY.DSC_HEAD.BN = None | |
| _CN.MICKEY.DSC_HEAD.NORM_DSC = None | |
| _CN.MICKEY.DSC_HEAD.POS_ENCODING = None | |
| _CN.FEATURE_MATCHER = CN() | |
| _CN.FEATURE_MATCHER.TYPE = None | |
| _CN.FEATURE_MATCHER.DUAL_SOFTMAX = CN() | |
| _CN.FEATURE_MATCHER.DUAL_SOFTMAX.TEMPERATURE = None | |
| _CN.FEATURE_MATCHER.DUAL_SOFTMAX.USE_DUSTBIN = None | |
| _CN.FEATURE_MATCHER.SINKHORN = CN() | |
| _CN.FEATURE_MATCHER.SINKHORN.NUM_IT = None | |
| _CN.FEATURE_MATCHER.SINKHORN.DUSTBIN_SCORE_INIT = None | |
| _CN.FEATURE_MATCHER.USE_TRANSFORMER = None | |
| _CN.FEATURE_MATCHER.TOP_KEYPOINTS = False | |
| # LOSS_CLASS | |
| _CN.LOSS_CLASS = CN() | |
| _CN.LOSS_CLASS.LOSS_FUNCTION = None | |
| _CN.LOSS_CLASS.SOFT_CLIPPING = None | |
| _CN.LOSS_CLASS.POSE_ERR = CN() | |
| _CN.LOSS_CLASS.POSE_ERR.MAX_LOSS_VALUE = None | |
| _CN.LOSS_CLASS.POSE_ERR.MAX_LOSS_SOFTVALUE = None | |
| _CN.LOSS_CLASS.VCRE = CN() | |
| _CN.LOSS_CLASS.VCRE.MAX_LOSS_VALUE = None | |
| _CN.LOSS_CLASS.VCRE.MAX_LOSS_SOFTVALUE = None | |
| _CN.LOSS_CLASS.GENERATE_HYPOTHESES = CN() | |
| _CN.LOSS_CLASS.GENERATE_HYPOTHESES.SCORE_TEMPERATURE = None | |
| _CN.LOSS_CLASS.GENERATE_HYPOTHESES.IT_MATCHES = None | |
| _CN.LOSS_CLASS.GENERATE_HYPOTHESES.IT_RANSAC = None | |
| _CN.LOSS_CLASS.GENERATE_HYPOTHESES.INLIER_3D_TH = None | |
| _CN.LOSS_CLASS.GENERATE_HYPOTHESES.INLIER_REF_TH = None | |
| _CN.LOSS_CLASS.GENERATE_HYPOTHESES.NUM_REF_STEPS = None | |
| _CN.LOSS_CLASS.GENERATE_HYPOTHESES.NUM_CORR_3d3d = None | |
| _CN.LOSS_CLASS.CURRICULUM_LEARNING = CN() | |
| _CN.LOSS_CLASS.CURRICULUM_LEARNING.TRAIN_CURRICULUM = None | |
| _CN.LOSS_CLASS.CURRICULUM_LEARNING.TRAIN_WITH_TOPK = None | |
| _CN.LOSS_CLASS.CURRICULUM_LEARNING.TOPK_INIT = None | |
| _CN.LOSS_CLASS.CURRICULUM_LEARNING.TOPK = None | |
| _CN.LOSS_CLASS.NULL_HYPOTHESIS = CN() | |
| _CN.LOSS_CLASS.NULL_HYPOTHESIS.ADD_NULL_HYPOTHESIS = None | |
| _CN.LOSS_CLASS.NULL_HYPOTHESIS.TH_OUTLIERS = None | |
| _CN.LOSS_CLASS.SAMPLER = CN() | |
| _CN.LOSS_CLASS.SAMPLER.NUM_SAMPLES_MATCHES = None | |
| # Procrustes RANSAC options | |
| _CN.PROCRUSTES = CN() | |
| _CN.PROCRUSTES.IT_MATCHES = None | |
| _CN.PROCRUSTES.IT_RANSAC = None | |
| _CN.PROCRUSTES.NUM_SAMPLED_MATCHES = None | |
| _CN.PROCRUSTES.NUM_CORR_3D_3D = None | |
| _CN.PROCRUSTES.NUM_REFINEMENTS = None | |
| _CN.PROCRUSTES.TH_INLIER = None | |
| _CN.PROCRUSTES.TH_SOFT_INLIER = None | |
| # Training Procrustes RANSAC options | |
| _CN.PROCRUSTES_TRAINING = CN() | |
| _CN.PROCRUSTES_TRAINING.MAX_CORR_DIST = None | |
| _CN.PROCRUSTES_TRAINING.REFINE = False #refine pose with ICP | |
| ############## Dataset ############## | |
| _CN.DATASET = CN() | |
| # 1. data config | |
| _CN.DATASET.DATA_SOURCE = None # options: ['ScanNet', '7Scenes', 'MapFree'] | |
| _CN.DATASET.SCENES = None # scenes to use (for 7Scenes/MapFree); should be a list []; If none, use all scenes. | |
| _CN.DATASET.DATA_ROOT = None # path to dataset folder | |
| _CN.DATASET.SEED = None # SEED for dataset generation | |
| _CN.DATASET.NPZ_ROOT = None # path to npz files containing pairs of frame indices per sample | |
| _CN.DATASET.MIN_OVERLAP_SCORE = None # discard data with overlap_score < min_overlap_score | |
| _CN.DATASET.MAX_OVERLAP_SCORE = None # discard data with overlap_score > max_overlap_score | |
| _CN.DATASET.CONSECUTIVE_PAIRS = None # options: [None, 'colorjitter'] | |
| _CN.DATASET.FRAME_RATE = None # options: [None, 'colorjitter'] | |
| _CN.DATASET.AUGMENTATION_TYPE = None # options: [None, 'colorjitter'] | |
| _CN.DATASET.BLACK_WHITE = False # if true, transform images to black & white | |
| _CN.DATASET.PAIRS_TXT = CN() # Path to text file defining the train/val/test pairs (7Scenes) | |
| _CN.DATASET.PAIRS_TXT.TRAIN = None | |
| _CN.DATASET.PAIRS_TXT.VAL = None | |
| _CN.DATASET.PAIRS_TXT.TEST = None | |
| _CN.DATASET.PAIRS_TXT.ONE_NN = False # If true, keeps only reference image w/ highest similarity to each query | |
| _CN.DATASET.HEIGHT = None | |
| _CN.DATASET.WIDTH = None | |
| ############# TRAINING ############# | |
| _CN.TRAINING = CN() | |
| # Data Loader settings | |
| _CN.TRAINING.BATCH_SIZE = None | |
| _CN.TRAINING.NUM_WORKERS = None | |
| _CN.TRAINING.NUM_GPUS = None | |
| _CN.TRAINING.SAMPLER = None # options: ['random', 'scene_balance'] | |
| _CN.TRAINING.N_SAMPLES_SCENE = None # if 'scene_balance' sampler, the number of samples to get per scene | |
| _CN.TRAINING.SAMPLE_WITH_REPLACEMENT = None # if 'scene_balance' sampler, whether to sample with replacement | |
| # Training settings | |
| _CN.TRAINING.LR = None | |
| _CN.TRAINING.LR_STEP_INTERVAL = None | |
| _CN.TRAINING.LR_STEP_GAMMA = None # multiplicative factor of LR every LR_STEP_ITERATIONS | |
| _CN.TRAINING.VAL_INTERVAL = None | |
| _CN.TRAINING.VAL_BATCHES = None | |
| _CN.TRAINING.LOG_INTERVAL = None | |
| _CN.TRAINING.EPOCHS = None | |
| _CN.TRAINING.GRAD_CLIP = 0. # Indicates the L2 norm at which to clip the gradient. Disabled if 0 | |
| cfg = _CN |