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| from src.config.default import _CN as cfg | |
| # training config | |
| cfg.TRAINER.CANONICAL_LR = 8e-3 | |
| cfg.TRAINER.WARMUP_STEP = 1875 # 3 epochs | |
| cfg.TRAINER.WARMUP_RATIO = 0.1 | |
| cfg.TRAINER.MSLR_MILESTONES = [8, 12, 16, 20, 24] | |
| cfg.TRAINER.RANSAC_PIXEL_THR = 0.5 | |
| cfg.TRAINER.OPTIMIZER = "adamw" | |
| cfg.TRAINER.ADAMW_DECAY = 0.1 | |
| cfg.TRAINER.EPI_ERR_THR = 5e-4 # recommendation: 5e-4 for ScanNet, 1e-4 for MegaDepth (from SuperGlue) | |
| cfg.TRAINER.GRADIENT_CLIPPING = 0.0 | |
| cfg.LOFTR.LOSS.FINE_TYPE = 'l2' # ['l2_with_std', 'l2'] | |
| cfg.LOFTR.LOSS.COARSE_OVERLAP_WEIGHT = True | |
| cfg.LOFTR.LOSS.FINE_OVERLAP_WEIGHT = True | |
| cfg.LOFTR.LOSS.LOCAL_WEIGHT = 0.25 | |
| cfg.LOFTR.MATCH_COARSE.TRAIN_COARSE_PERCENT = 0.3 | |
| cfg.LOFTR.MATCH_COARSE.SPARSE_SPVS = True | |
| # model config | |
| cfg.LOFTR.RESOLUTION = (8, 1) | |
| cfg.LOFTR.FINE_WINDOW_SIZE = 8 # window_size in fine_level, must be even | |
| cfg.LOFTR.ALIGN_CORNER = False | |
| cfg.LOFTR.MP = True # just for reproducing paper, FP16 is much faster on modern GPUs | |
| cfg.LOFTR.REPLACE_NAN = True | |
| cfg.LOFTR.EVAL_TIMES = 5 | |
| cfg.LOFTR.COARSE.NO_FLASH = True # Not use Flash-Attention just for reproducing paper timing | |
| cfg.LOFTR.MATCH_FINE.LOCAL_REGRESS_TEMPERATURE = 10.0 | |
| cfg.LOFTR.MATCH_FINE.LOCAL_REGRESS_SLICEDIM = 8 | |
| # dataset config | |
| cfg.DATASET.FP16 = False | |
| # optimized model config | |
| cfg.LOFTR.MATCH_COARSE.FP16MATMUL = True | |
| cfg.LOFTR.MATCH_COARSE.SKIP_SOFTMAX = True | |
| cfg.LOFTR.MATCH_COARSE.THR = 25.0 # recommend 0.2 for full model and 25 for optimized model |