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import torch |
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import sys |
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from datetime import datetime |
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import numpy as np |
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import random |
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def inverse_sigmoid(x): |
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return torch.log(x/(1-x)) |
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def PILtoTorch(pil_image, resolution): |
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resized_image_PIL = pil_image.resize(resolution) |
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resized_image = torch.from_numpy(np.array(resized_image_PIL)) / 255.0 |
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if len(resized_image.shape) == 3: |
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return resized_image.permute(2, 0, 1) |
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else: |
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return resized_image.unsqueeze(dim=-1).permute(2, 0, 1) |
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def get_expon_lr_func( |
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lr_init, lr_final, lr_delay_steps=0, lr_delay_mult=1.0, max_steps=1000000 |
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): |
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""" |
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Copied from Plenoxels |
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Continuous learning rate decay function. Adapted from JaxNeRF |
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The returned rate is lr_init when step=0 and lr_final when step=max_steps, and |
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is log-linearly interpolated elsewhere (equivalent to exponential decay). |
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If lr_delay_steps>0 then the learning rate will be scaled by some smooth |
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function of lr_delay_mult, such that the initial learning rate is |
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lr_init*lr_delay_mult at the beginning of optimization but will be eased back |
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to the normal learning rate when steps>lr_delay_steps. |
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:param conf: config subtree 'lr' or similar |
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:param max_steps: int, the number of steps during optimization. |
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:return HoF which takes step as input |
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""" |
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def helper(step): |
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if step < 0 or (lr_init == 0.0 and lr_final == 0.0): |
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return 0.0 |
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if lr_delay_steps > 0: |
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delay_rate = lr_delay_mult + (1 - lr_delay_mult) * np.sin( |
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0.5 * np.pi * np.clip(step / lr_delay_steps, 0, 1) |
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) |
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else: |
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delay_rate = 1.0 |
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t = np.clip(step / max_steps, 0, 1) |
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log_lerp = np.exp(np.log(lr_init) * (1 - t) + np.log(lr_final) * t) |
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return delay_rate * log_lerp |
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return helper |
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def strip_lowerdiag(L): |
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uncertainty = torch.zeros((L.shape[0], 6), dtype=torch.float, device="cuda") |
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uncertainty[:, 0] = L[:, 0, 0] |
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uncertainty[:, 1] = L[:, 0, 1] |
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uncertainty[:, 2] = L[:, 0, 2] |
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uncertainty[:, 3] = L[:, 1, 1] |
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uncertainty[:, 4] = L[:, 1, 2] |
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uncertainty[:, 5] = L[:, 2, 2] |
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return uncertainty |
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def strip_symmetric(sym): |
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return strip_lowerdiag(sym) |
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def build_rotation(r): |
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norm = torch.sqrt(r[:,0]*r[:,0] + r[:,1]*r[:,1] + r[:,2]*r[:,2] + r[:,3]*r[:,3]) |
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q = r / norm[:, None] |
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R = torch.zeros((q.size(0), 3, 3), device='cuda') |
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r = q[:, 0] |
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x = q[:, 1] |
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y = q[:, 2] |
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z = q[:, 3] |
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R[:, 0, 0] = 1 - 2 * (y*y + z*z) |
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R[:, 0, 1] = 2 * (x*y - r*z) |
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R[:, 0, 2] = 2 * (x*z + r*y) |
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R[:, 1, 0] = 2 * (x*y + r*z) |
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R[:, 1, 1] = 1 - 2 * (x*x + z*z) |
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R[:, 1, 2] = 2 * (y*z - r*x) |
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R[:, 2, 0] = 2 * (x*z - r*y) |
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R[:, 2, 1] = 2 * (y*z + r*x) |
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R[:, 2, 2] = 1 - 2 * (x*x + y*y) |
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return R |
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def build_scaling_rotation(s, r): |
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L = torch.zeros((s.shape[0], 3, 3), dtype=torch.float, device="cuda") |
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R = build_rotation(r) |
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L[:,0,0] = s[:,0] |
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L[:,1,1] = s[:,1] |
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L[:,2,2] = s[:,2] |
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L = R @ L |
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return L |
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def safe_state(silent): |
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old_f = sys.stdout |
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class F: |
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def __init__(self, silent): |
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self.silent = silent |
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def write(self, x): |
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if not self.silent: |
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if x.endswith("\n"): |
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old_f.write(x.replace("\n", " [{}]\n".format(str(datetime.now().strftime("%d/%m %H:%M:%S"))))) |
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else: |
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old_f.write(x) |
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def flush(self): |
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old_f.flush() |
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sys.stdout = F(silent) |
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random.seed(0) |
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np.random.seed(0) |
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torch.manual_seed(0) |
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torch.cuda.set_device(torch.device("cuda:0")) |
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