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tatoo.py
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tatoo.py
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# model settings
max_disp = 256
model = dict(
type='TAToo',
stereo=dict(
type='HITNetMF',
backbone=dict(
type='HITUNet',
),
initialization=dict(
type='TileInitialization',
max_disp=max_disp,
),
propagation=dict(
type='TilePropagation',
),
loss=dict(
type='HITLoss',
max_disp=max_disp,
alpha=0.9,
c=0.1,
loss_weight=1.0
),
),
# stereo=dict(
# type='CREStereoMF',
# crestereo=dict(
# type='CREStereo',
# max_disp=max_disp,
# pretained='PATH_TO/crestereo_eth3d.pth' # https://drive.google.com/file/d/1D2s1v4VhJlNz98FQpFxf_kBAKQVN_7xo/view
# ),
# loss=dict(
# type='FlowLoss',
# negate=False,
# gamma=0.8
# )
# ),
segmentation=dict(
type='LinkNet34',
num_classes=3,
loss=dict(
type="SegmentationLoss",
loss_weight=1.0
)
),
motion=dict(
type='Motion',
config=dict(
optimize_flow_weight=True,
optimize_disp_weight=True,
steps=6,
gn_step=1,
optimize_d_scale=500 * 0.06,
delta_d_scale=1.0,
sample_target_disp=True
),
loss=dict(
type='MotionLoss',
geo_weight=10.0,
res_weight=0.1,
flo_weight=0.1,
w_tau=1.0,
w_phi=1.0,
gamma=0.3
),
),
test_cfg=dict(mode='whole')
)