1

dust3r/cloud_opt_flow/optimizer.py

@@ -11,9 +11,9 @@ from dust3r.utils.geometry import xy_grid, geotrf, depthmap_to_pts3d
 from dust3r.utils.device import to_cpu, to_numpy
 from dust3r.utils.goem_opt import DepthBasedWarping, OccMask, WarpImage, depth_regularization_si_weighted, tum_to_pose_matrix
 from third_party.raft import load_RAFT
-from sam2.build_sam import build_sam2_video_predictor
-sam2_checkpoint = "third_party/sam2/checkpoints/sam2.1_hiera_large.pt"
-model_cfg = "configs/sam2.1/sam2.1_hiera_l.yaml"
+# from sam2.build_sam import build_sam2_video_predictor
+# sam2_checkpoint = "third_party/sam2/checkpoints/sam2.1_hiera_large.pt"
+# model_cfg = "configs/sam2.1/sam2.1_hiera_l.yaml"
 
 def smooth_L1_loss_fn(estimate, gt, mask, beta=1.0, per_pixel_thre=50.):
     loss_raw_shape = F.smooth_l1_loss(estimate*mask, gt*mask, beta=beta, reduction='none')
@@ -109,6 +109,7 @@ class PointCloudOptimizer(BasePCOptimizer):
             self.flow_ji.requires_grad_(False)
             self.flow_valid_mask_i.requires_grad_(False)
             self.flow_valid_mask_j.requires_grad_(False)
+            sam2_mask_refine = False
             if sam2_mask_refine: 
                 with torch.no_grad():
                     self.refine_motion_mask_w_sam2()

requirements.txt

@@ -19,4 +19,4 @@ seaborn
 evo
 transformers
 git+https://github.com/apple/ml-depth-pro.git
-git+https://github.com/facebookresearch/sam2.git
+# git+https://github.com/facebookresearch/sam2.git