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options.py
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from __future__ import absolute_import, division, print_function
import os
import argparse
file_dir = os.path.dirname(__file__) # the directory that options.py resides in
class SuPerOptions:
def __init__(self):
self.parser = argparse.ArgumentParser(description="options")
''' METHOD options '''
self.parser.add_argument('--method',
default='super')
self.parser.add_argument('--phase',
default='test')
self.parser.add_argument('--start_id',
type=int,
default=4)
self.parser.add_argument('--end_id',
type=int,
default=521)
self.parser.add_argument("--seed",
type=int,
default=0)
self.parser.add_argument("--use_derived_gradient",
action="store_true",
help="SuPer: if set, use the derived gradient to update parameter instead of pytorch autograd",)
self.parser.add_argument('--save_sample_freq',
type=int,
default=10)
self.parser.add_argument('--output_dir',
default='results')
self.parser.add_argument('--model_name',
required=True)
self.parser.add_argument("--optimizer",
default="SGD")
self.parser.add_argument("--learning_rate",
type=float,
default=5e-5)
self.parser.add_argument('--num_optimize_iterations',
type=int,
default=10,
help="SuPer: number of iterations to optimize deformation")
self.parser.add_argument('--num_ED_neighbors',
type=int,
default=4)
self.parser.add_argument('--num_neighbors',
type=int,
default=4)
self.parser.add_argument('--th_dist',
type=float,
default=0.1)
self.parser.add_argument('--th_cosine_ang',
type=float,
default=0.4)
# self.parser.add_argument('--th_conf',
# type=float,
# default=10,
# help='SuPer: Confidence threshold for stable surfels. If negative, confidence is not used.')
self.parser.add_argument('--th_time_steps',
type=int,
default=30,
help='SuPer: a surfel is unstable if it has not been updated for th_num_time_steps and has low confidence')
self.parser.add_argument("--disable_removing_unstable_surfels",
action="store_true",
help="SuPer: if set, after updating surfels, surfels considered as unstable (according to SuPer) will not be added")
self.parser.add_argument("--disable_merging_new_surfels",
action="store_true",
help="SuPer: if set, after initialization, new surfels will not be merged with existing surfels")
self.parser.add_argument("--disable_merging_exist_surfels",
action="store_true",
help="SuPer: if set, after initialization, existing surfels will not be fused")
self.parser.add_argument("--disable_adding_new_surfels",
action="store_true",
help="SuPer: if set, after initialization, new surfels will not be added")
self.parser.add_argument("--normal_model",
default="8neighbors",
help="method to estimate the normal from depth")
self.parser.add_argument("--deform_udpate_method",
default='super_edg',
help='Method to update surfel and ED node deformation. [edg] corresponds to SuPer method which updates deformation via EDG.')
self.parser.add_argument("--downsample_params",
nargs="+",
type=float,
default=[0.1, 50, 0.1],
help="only for encoding ED nodes")
self.parser.add_argument("--ball_piv_radii",
nargs="+",
type=float,
default=[0.08],
help="only for encoding ED nodes")
self.parser.add_argument('--mesh_step_size',
type=int,
default=30)
self.parser.add_argument("--load_depth",
action="store_true",
help="if set, load the depth map")
self.parser.add_argument('--depth_ext',
default='.npy')
self.parser.add_argument("--min_depth",
type=float,
default=0.1,
help='Monodepth2: minimum depth')
self.parser.add_argument("--max_depth",
type=float,
default=80.0,
help='Monodepth2: maximum depth')
self.parser.add_argument('--depth_model')
# Parameters for Monodepth2.
self.parser.add_argument('--num_layers',
type=int,
default=0,
choices=[0, 18, 34, 50, 101, 152],
help="Encoder: number of resnet encoder layers")
# Parameters for RAFTStereo.
self.parser.add_argument('--valid_iters',
type=int,
default=32)
self.parser.add_argument('--hidden_dims',
nargs="+",
type=int,
default = [128, 128, 128])
self.parser.add_argument('--corr_levels',
type=int,
default=4)
self.parser.add_argument('--corr_radius',
type=int,
default=4)
self.parser.add_argument('--shared_backbone',
action="store_true")
self.parser.add_argument('--n_downsample',
type=int,
default=2)
self.parser.add_argument('--context_norm',
default='batch')
self.parser.add_argument('--slow_fast_gru',
action="store_true")
self.parser.add_argument('--n_gru_layers',
type=int,
default=3)
self.parser.add_argument('--corr_implementation',
default='reg')
self.parser.add_argument('--mixed_precision',
action="store_true")
# Checkpoints.
self.parser.add_argument('--pretrained_depth_checkpoint_dir',
help='Path to pretrained depth model checkpoints.')
self.parser.add_argument('--pretrained_encoder_checkpoint_dir',
dest='pretrained_encoder_checkpoint_dir',
help='Path to pretrained encoder checkpoints.')
self.parser.add_argument("--post_process",
action="store_true",
help="Monodepth2: if set will perform the flipping post processing from the original monodepth paper")
self.parser.add_argument("--depth_width_range",
nargs="+",
type=float,
default=[0.02, 0.98])
self.parser.add_argument('--depth_filter_kernel_size',
type=int,
default=-1)
self.parser.add_argument("--weights_init",
type=str,
default="pretrained",
choices=["pretrained", "scratch"],
help="pretrained or scratch")
self.parser.add_argument('--optical_flow_model')
self.parser.add_argument('--renderer',
default='pulsar',
choices=['pulsar'],
help='Renderer: Method to render image from the tracked surfels.')
self.parser.add_argument('--renderer_rad',
type=float,
default=0.0002,
help='Renderer rad parameter: required for pulsar')
''' DATA options '''
self.parser.add_argument('--data_dir',
default=os.path.join(file_dir, 'v1_520_pairs'),
help='path to data directory')
self.parser.add_argument('--rgb_dir',
default='rgb')
self.parser.add_argument('--depth_dir',
default='depth')
self.parser.add_argument('--seg_dir',
default='seg/DeepLabV3+')
self.parser.add_argument('--data',
default='superv1')
self.parser.add_argument('--height',
type=int,
default=480)
self.parser.add_argument('--width',
type=int,
default=640)
self.parser.add_argument('--img_ext',
default='.png')
self.parser.add_argument("--load_valid_mask",
action="store_true",
help="if set, load the valid mask where invalid regions will be excluded for surfel initialization")
self.parser.add_argument('--valid_mask_dir',
default='seg/tissue')
self.parser.add_argument('--dilate_invalid_kernel',
type=int,
default=5)
''' ABLATION options '''
self.parser.add_argument('--sf_point_plane',
action='store_true',
help='Losses: point-plane ICP loss')
self.parser.add_argument('--sf_point_plane_weight',
type=float,
default=1.)
self.parser.add_argument('--mesh_arap',
action='store_true',
help='Losses: as-rigid-as-possible (ARAP) loss on ED graph')
self.parser.add_argument('--mesh_arap_weight',
type=float,
default=10.)
self.parser.add_argument('--mesh_face',
action='store_true',
help='Losses: Face loss, an alternative loss for ARAP loss')
self.parser.add_argument('--mesh_face_weight',
type=float,
default=1.)
self.parser.add_argument('--mesh_rot',
action='store_true',
help='Losses: quaternion normalization term (Rot loss)')
self.parser.add_argument('--mesh_rot_weight',
type=float,
default=1.)
self.parser.add_argument('--sf_corr',
action='store_true',
help='Losses: Surfel correspondence loss')
self.parser.add_argument('--sf_corr_match_renderimg',
action='store_true')
self.parser.add_argument('--sf_corr_weight',
type=float,
default=0.001)
self.parser.add_argument('--sf_corr_loss_type',
default='point-point')
''' SYSTEM options '''
self.parser.add_argument("--gpu",
type=int,
default=0)
''' EVALUATION options '''
self.parser.add_argument('--tracking_gt_file')
# Backup parameters.
# parser.add_argument('--files', nargs="+", default=['tracking_rst.npy'],
# help='Accepcts a list of arguments. Can specify multiple tracking result files to evaluate (tracking_rst.npy)')
# parser.add_argument('--files_legends', nargs="+", default=['DefSLAM'],
# help='Accepcts a list of arguments. For each result file, annotate its method as a legend')
# parser.add_argument('--files_to_plot', type=int, nargs="+", default=[1],
# help='Accepcts a list of arguments. For each result file, put `1` to plot, `0` to not plot')
# parser.add_argument('--files_to_plot_time_error', type=int, nargs="+", default=[0],
# help='Accepcts a list of arguments.')
# # Point tracking evalutation
# parser.add_argument('--num_points', type=int, default=20, help='number of tracked points')
# parser.add_argument('--igonored_ids', type=int, nargs="+", default=[])
#
# parser.add_argument('--start_timestamp', type=int, default=1)
# parser.add_argument('--end_timestamp', type=int, default=519)
# parser.add_argument('--traj_ids', type=int, nargs="+", default=[0,1,2,3])
# parser.add_argument('--traj_start_timestamp', type=int, default=60)
# parser.add_argument('--traj_end_timestamp', type=int, default=120)
# parser.add_argument('--output_dir', default="./results/eval_output")
# parser.add_argument('--output_figure_name', default="evaluate.png")
# parser.add_argument('--save_seg_ply', action='store_true')
def parse(self, args=None):
self.options = self.parser.parse_args(args)
return self.options
class SemanticSuPerOptions(SuPerOptions):
def __init__(self):
super(SemanticSuPerOptions, self).__init__()
''' METHOD options '''
self.parser.set_defaults(method='semantic-super')
self.parser.add_argument("--load_seg",
action="store_true",
help="if set, load the segmentation map")
self.parser.add_argument('--seg_ext',
default='.npy')
self.parser.add_argument('--seg_model')
self.parser.add_argument('--pretrained_seg_checkpoint_dir',
help='Segmentation: Path to pretrained segmentation model checkpoints.')
self.parser.add_argument("--seg_num_layers",
type=int,
help="number of resnet layers for segmentation model")
self.parser.add_argument("--hard_seg",
action="store_true",
help="SemanticSuper Confidence: if set, only search for same semantic class when finding knn surfels for ED nodes")
self.parser.add_argument("--del_seg_classes",
nargs="+",
type=int,
default=[],
help="classes ID that will be ignored for tracking")
self.parser.add_argument("--disable_ssim_conf",
action="store_true",
help="if set, warp right image to the left view and use the ssim between the real and warp image as surfel init confidence")
''' DATA options '''
self.parser.set_defaults(data='superv2')
self.parser.set_defaults(start_id=0)
self.parser.set_defaults(end_id=151)
self.parser.set_defaults(seg_dir='seg')
self.parser.add_argument("--num_classes",
type=int,
default=3,
help="number of semantic classes")
self.parser.add_argument('--edge_ids',
type=int,
nargs="+",
default=[])
''' ABLATION options '''
self.parser.add_argument('--sf_hard_seg_point_plane',
action='store_true',
help='Semantic-SuPer Losses: Semantic-aware point-to-plane ICP loss. If set, only match surfels from the same semantic class')
self.parser.add_argument('--sf_soft_seg_point_plane',
action='store_true',
help='Semantic-SuPer Losses: Semantic-aware point-to-plane ICP loss. If set, weight ICP loss with Jensen-Shannon divergence between the softmax segmentation output')
self.parser.add_argument("--sf_bn_morph",
action="store_true",
help='Semantic-SuPer Losses: Semantic-aware morphing loss')
self.parser.add_argument("--sf_bn_morph_weight",
type=float,
default=0.1)
self.parser.add_argument('--render_loss',
action='store_true',
help='Losses: Rendering loss')
self.parser.add_argument('--render_loss_weight',
type=float,
default=1e-4)