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- .gitattributes +15 -0
- assets/teaser.gif +3 -0
- configs/navi.yaml +84 -0
- data/demo/butter/cameras.json +212 -0
- data/demo/butter/processed/001_rgba.png +0 -0
- data/demo/butter/processed/002_rgba.png +0 -0
- data/demo/butter/processed/003_rgba.png +0 -0
- data/demo/butter/processed/005_rgba.png +0 -0
- data/demo/butter/processed/006_rgba.png +0 -0
- data/demo/butter/processed/007_rgba.png +0 -0
- data/demo/butter/source/001.png +3 -0
- data/demo/butter/source/002.png +3 -0
- data/demo/butter/source/003.jpg +3 -0
- data/demo/butter/source/005.jpg +3 -0
- data/demo/butter/source/006.jpg +3 -0
- data/demo/butter/source/007.jpg +3 -0
- data/demo/eagle/cameras.json +1 -0
- data/demo/eagle/processed/000.png +0 -0
- data/demo/eagle/processed/001.png +0 -0
- data/demo/eagle/processed/003.png +0 -0
- data/demo/eagle/processed/006.png +0 -0
- data/demo/eagle/processed/007.png +0 -0
- data/demo/eagle/processed/008.png +0 -0
- data/demo/eagle/processed/010.png +0 -0
- data/demo/eagle/processed/011.png +0 -0
- data/demo/jordan/cameras.json +282 -0
- data/demo/jordan/processed/001_rgba.png +0 -0
- data/demo/jordan/processed/002_rgba.png +0 -0
- data/demo/jordan/processed/003_rgba.png +0 -0
- data/demo/jordan/processed/004_rgba.png +0 -0
- data/demo/jordan/processed/005_rgba.png +0 -0
- data/demo/jordan/processed/006_rgba.png +0 -0
- data/demo/jordan/processed/007_rgba.png +0 -0
- data/demo/jordan/processed/008_rgba.png +0 -0
- data/demo/jordan/source/001.jpg +3 -0
- data/demo/jordan/source/002.jpg +3 -0
- data/demo/jordan/source/003.jpg +3 -0
- data/demo/jordan/source/004.jpg +3 -0
- data/demo/jordan/source/005.jpg +3 -0
- data/demo/jordan/source/006.jpg +3 -0
- data/demo/jordan/source/007.jpg +3 -0
- data/demo/jordan/source/008.jpg +3 -0
- data/demo/robot/cameras.json +1 -0
- data/demo/robot/processed/0.png +0 -0
- data/demo/robot/processed/1.png +0 -0
- data/demo/robot/processed/2.png +0 -0
- data/demo/robot/processed/3.png +0 -0
- data/demo/robot/processed/4.png +0 -0
- data/demo/robot/processed/5.png +0 -0
- data/demo/robot/processed/6.png +0 -0
.gitattributes
CHANGED
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@@ -37,3 +37,18 @@ simple-knn/build/lib.linux-x86_64-cpython-39/simple_knn/_C.cpython-39-x86_64-lin
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simple-knn/build/temp.linux-x86_64-cpython-39/.ninja_deps filter=lfs diff=lfs merge=lfs -text
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simple-knn/build/temp.linux-x86_64-cpython-39/simple_knn.o filter=lfs diff=lfs merge=lfs -text
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diff-gaussian-rasterization-camera/third_party/glm/doc/manual.pdf filter=lfs diff=lfs merge=lfs -text
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simple-knn/build/temp.linux-x86_64-cpython-39/.ninja_deps filter=lfs diff=lfs merge=lfs -text
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simple-knn/build/temp.linux-x86_64-cpython-39/simple_knn.o filter=lfs diff=lfs merge=lfs -text
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diff-gaussian-rasterization-camera/third_party/glm/doc/manual.pdf filter=lfs diff=lfs merge=lfs -text
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assets/teaser.gif filter=lfs diff=lfs merge=lfs -text
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data/demo/butter/source/001.png filter=lfs diff=lfs merge=lfs -text
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data/demo/butter/source/002.png filter=lfs diff=lfs merge=lfs -text
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data/demo/butter/source/003.jpg filter=lfs diff=lfs merge=lfs -text
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data/demo/butter/source/005.jpg filter=lfs diff=lfs merge=lfs -text
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data/demo/butter/source/006.jpg filter=lfs diff=lfs merge=lfs -text
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data/demo/butter/source/007.jpg filter=lfs diff=lfs merge=lfs -text
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data/demo/jordan/source/001.jpg filter=lfs diff=lfs merge=lfs -text
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data/demo/jordan/source/002.jpg filter=lfs diff=lfs merge=lfs -text
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data/demo/jordan/source/003.jpg filter=lfs diff=lfs merge=lfs -text
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data/demo/jordan/source/004.jpg filter=lfs diff=lfs merge=lfs -text
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data/demo/jordan/source/005.jpg filter=lfs diff=lfs merge=lfs -text
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data/demo/jordan/source/006.jpg filter=lfs diff=lfs merge=lfs -text
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data/demo/jordan/source/007.jpg filter=lfs diff=lfs merge=lfs -text
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data/demo/jordan/source/008.jpg filter=lfs diff=lfs merge=lfs -text
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assets/teaser.gif
ADDED
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Git LFS Details
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configs/navi.yaml
ADDED
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| 1 |
+
### Input
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| 2 |
+
# input rgba image path (default to None, can be load in GUI too)
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seed: 42
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| 4 |
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order_path:
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camera_path:
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first_n_views:
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# input text prompt (default to None, can be input in GUI too)
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prompt:
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negative_prompt:
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# input mesh for stage 2 (auto-search from stage 1 output path if None)
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mesh:
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# estimated elevation angle for input image
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elevation: 0
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# reference image resolution
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ref_size: 256
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# density thresh for mesh extraction (originally 1)
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density_thresh: 0.5
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### Output
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outdir: logs
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mesh_format: obj
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save_path: ???
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### Training
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all_views: False
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known_view_interval: 1
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stable_zero123: False
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# guidance loss weights (0 to disable)
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lambda_sd: 0
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mvdream: False
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lambda_zero123: 1
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lambda_dino: 0
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# training batch size per iter
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batch_size: 1
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# training iterations for stage 1
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iters: 500
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# whether to linearly anneal timestep
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anneal_timestep: True
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# training iterations for stage 2
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iters_refine: 50
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# training camera radius
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radius: 3 # 2
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# training camera fovy
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fovy: 49.1 # align with zero123 rendering setting (ref: https://github.com/cvlab-columbia/zero123/blob/main/objaverse-rendering/scripts/blender_script.py#L61
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# checkpoint to load for stage 1 (should be a ply file)
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load:
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# whether allow geom training in stage 2
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train_geo: False
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# prob to invert background color during training (0 = always black, 1 = always white)
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invert_bg_prob: 0.5
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### GUI
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gui: False
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force_cuda_rast: False
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# GUI resolution
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H: 256 # 800
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W: 256 # 800
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### Gaussian splatting
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num_pts: 25000
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sh_degree: 3
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position_lr_init: 0.001
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position_lr_final: 0.00002
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position_lr_delay_mult: 0.02
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position_lr_max_steps: 500
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feature_lr: 0.01
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opacity_lr: 0.05
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scaling_lr: 0.005
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rotation_lr: 0.005
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camera_lr: 0.00025
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camera_lr_init:
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camera_lr_final:
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percent_dense: 0.01
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density_start_iter: 100
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density_end_iter: 3000
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densification_interval: 100
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opacity_reset_interval: 700
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densify_grad_threshold: 0.01
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### Textured Mesh
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geom_lr: 0.0001
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texture_lr: 0.2
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trainable_texture: True
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data/demo/butter/cameras.json
ADDED
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@@ -0,0 +1,212 @@
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| 1 |
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{
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| 2 |
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"001": {
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| 3 |
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"R": [
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| 4 |
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| 14 |
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]
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],
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"T": [
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],
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"needs_checking": false,
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"principal_point": [
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"flag": 1,
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"filepath": "data/demo/butter/processed/001_rgba.png"
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},
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"002": {
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"R": [
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"filepath": "data/demo/butter/processed/002_rgba.png"
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},
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data/demo/eagle/processed/000.png
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data/demo/eagle/processed/001.png
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data/demo/eagle/processed/003.png
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|
data/demo/eagle/processed/006.png
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data/demo/eagle/processed/007.png
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data/demo/eagle/processed/008.png
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data/demo/eagle/processed/010.png
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|
data/demo/eagle/processed/011.png
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|
data/demo/jordan/cameras.json
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|
@@ -0,0 +1,282 @@
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| 1 |
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