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pixi.toml
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pixi.toml
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[project]
name = "neural_graph_mapping"
channels = ["pytorch", "nvidia", "conda-forge"]
platforms = ["linux-64"]
[activation]
scripts = [".pixi.sh"]
[system-requirements]
libc = { family="glibc", version="2.31" } # required for Open3D and Rerun
[dependencies]
python = "3.10.*"
# need to specify torch here because Pytorch3D does not properly specify its dependencies
# see https://github.com/facebookresearch/pytorch3d/issues/1419
pytorch = {version="2.2.*", channel="pytorch"}
torchvision = {version=">=0.17.2,<0.18", channel="pytorch"}
pytorch-cuda = {version="12.1.*", channel="pytorch"}
cuda = {version="12.1.*", channel="nvidia"}
cuda-nvcc = {version="12.1.*", channel="nvidia"}
wget = ">=1.21.4,<1.22"
wheel = ">=0.43.0,<0.44"
pip = ">=24.0,<25"
gxx = "10.*"
# Install pypi depedencies manually via pip3, this should be replaced with direct pypi dependencies in the future.
# This is necessary because torch extensions currently don't install via uv (which is used by pixi).
[tasks.install_ngm]
cmd = "python -m pip install --no-build-isolation -e ."
[tasks.download_replica_big]
cmd = """
test -e "$NGM_DATA_DIR/replica_big"
|| (
mkdir -p $NGM_DATA_DIR
&& cd $NGM_DATA_DIR
&& wget -nc https://zenodo.org/records/11060329/files/replica_big_data.zip
&& unzip -n replica_big_data.zip
&& wget -nc https://zenodo.org/records/11060329/files/replica_big_slam.zip
&& unzip -n replica_big_slam.zip
)
"""
[tasks.download_replica_imap]
cmd = """
test -e "$NGM_DATA_DIR/replica_imap"
|| (
mkdir -p $NGM_DATA_DIR
&& cd $NGM_DATA_DIR
&& wget -nc https://cvg-data.inf.ethz.ch/nice-slam/data/Replica.zip
&& unzip -n Replica.zip
&& mv Replica replica_imap
&& wget -nc https://zenodo.org/records/11060329/files/replica_slam.zip
&& unzip -n replica_slam.zip
&& wget -nc https://zenodo.org/records/11068446/files/replica_coslam_eval.zip
&& unzip -n replica_coslam_eval.zip
&& rsync -a Replica/ replica_imap/
&& rm -r Replica
)
"""
[tasks.download_kintinuous]
cmd = """
test -e "$NGM_DATA_DIR/kintinuous"
|| (
mkdir -p $NGM_DATA_DIR
&& cd $NGM_DATA_DIR
&& wget -nc https://zenodo.org/records/11060329/files/kintinuous_data.zip
&& unzip -n kintinuous_data.zip
&& wget -nc https://zenodo.org/records/11068446/files/replica_coslam_eval.zip
&& unzip -n kintinuous_slam.zip
)
"""
[tasks.download]
cmd = """
test -e "$NGM_DATA_DIR/nrgbd"
|| (
mkdir -p $NGM_DATA_DIR
&& cd $NGM_DATA_DIR
&& wget -nc http://kaldir.vc.in.tum.de/neural_rgbd/neural_rgbd_data.zip
&& unzip -n neural_rgbd_data.zip -d neural_rgbd_data
&& wget -nc https://zenodo.org/records/11060329/files/nrgbd_slam.zip
&& unzip -n nrgbd_slam.zip
&& wget -nc https://zenodo.org/records/11068446/files/nrgbd_coslam_eval.zip
&& unzip -n nrgbd_coslam_eval.zip
&& wget -nc http://kaldir.vc.in.tum.de/neural_rgbd/meshes.zip
&& unzip -n meshes.zip '*/gt_mesh.ply' -x '*icl*' -d neural_rgbd_data
&& mv neural_rgbd_data nrgbd
)
"""
[tasks.replica_big_apartment0]
cmd = "python -m neural_graph_mapping.run_mapping --config replica_big_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/replica_big/ --dataset_config.scene apartment0 $NGM_EXTRA_ARGS"
depends_on = ["download_replica_big", "install_ngm"]
[tasks.replica_big_apartment1]
cmd = "python -m neural_graph_mapping.run_mapping --config replica_big_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/replica_big/ --dataset_config.scene apartment1 $NGM_EXTRA_ARGS"
depends_on = ["download_replica_big", "install_ngm"]
[tasks.replica_big_apartment2]
cmd = "python -m neural_graph_mapping.run_mapping --config replica_big_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/replica_big/ --dataset_config.scene apartment2 $NGM_EXTRA_ARGS"
depends_on = ["download_replica_big", "install_ngm"]
[tasks.replica_big_all]
depends_on = ["replica_big_apartment0", "replica_big_apartment1", "replica_big_apartment2"]
[tasks.replica_imap_room0]
cmd = "python -m neural_graph_mapping.run_mapping --config replica_imap_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/replica_imap/ --dataset_config.scene room0 $NGM_EXTRA_ARGS"
depends_on = ["download_replica_imap", "install_ngm"]
[tasks.replica_imap_room1]
cmd = "python -m neural_graph_mapping.run_mapping --config replica_imap_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/replica_imap/ --dataset_config.scene room1 $NGM_EXTRA_ARGS"
depends_on = ["download_replica_imap", "install_ngm"]
[tasks.replica_imap_room2]
cmd = "python -m neural_graph_mapping.run_mapping --config replica_imap_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/replica_imap/ --dataset_config.scene room2 $NGM_EXTRA_ARGS"
depends_on = ["download_replica_imap", "install_ngm"]
[tasks.replica_imap_office0]
cmd = "python -m neural_graph_mapping.run_mapping --config replica_imap_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/replica_imap/ --dataset_config.scene office0 $NGM_EXTRA_ARGS"
depends_on = ["download_replica_imap", "install_ngm"]
[tasks.replica_imap_office1]
cmd = "python -m neural_graph_mapping.run_mapping --config replica_imap_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/replica_imap/ --dataset_config.scene office1 $NGM_EXTRA_ARGS"
depends_on = ["download_replica_imap", "install_ngm"]
[tasks.replica_imap_office2]
cmd = "python -m neural_graph_mapping.run_mapping --config replica_imap_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/replica_imap/ --dataset_config.scene office2 $NGM_EXTRA_ARGS"
depends_on = ["download_replica_imap", "install_ngm"]
[tasks.replica_imap_office3]
cmd = "python -m neural_graph_mapping.run_mapping --config replica_imap_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/replica_imap/ --dataset_config.scene office3 $NGM_EXTRA_ARGS"
depends_on = ["download_replica_imap", "install_ngm"]
[tasks.replica_imap_office4]
cmd = "python -m neural_graph_mapping.run_mapping --config replica_imap_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/replica_imap/ --dataset_config.scene office4 $NGM_EXTRA_ARGS"
depends_on = ["download_replica_imap", "install_ngm"]
[tasks.replica_imap_all]
depends_on = ["replica_imap_room0", "replica_imap_room1", "replica_imap_room2", "replica_imap_office0", "replica_imap_office1", "replica_imap_office2", "replica_imap_office3", "replica_imap_office4"]
[tasks.kintinuous]
cmd = "python -m neural_graph_mapping.run_mapping --config kintinuous_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/kintinuous/ --truncation_distance 0.2 $NGM_EXTRA_ARGS"
depends_on = ["download_kintinuous", "install_ngm"]
[tasks.nrgbd_br]
cmd = "python -m neural_graph_mapping.run_mapping --config nrgbd_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/nrgbd/ --dataset_config.scene breakfast_room $NGM_EXTRA_ARGS"
depends_on = ["download", "install_ngm"]
[tasks.nrgbd_ck]
cmd = "python -m neural_graph_mapping.run_mapping --config nrgbd_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/nrgbd/ --dataset_config.scene complete_kitchen $NGM_EXTRA_ARGS"
depends_on = ["download", "install_ngm"]
[tasks.nrgbd_gr]
cmd = "python -m neural_graph_mapping.run_mapping --config nrgbd_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/nrgbd/ --dataset_config.scene green_room $NGM_EXTRA_ARGS"
depends_on = ["download", "install_ngm"]
[tasks.nrgbd_gwr]
cmd = "python -m neural_graph_mapping.run_mapping --config nrgbd_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/nrgbd/ --dataset_config.scene grey_white_room $NGM_EXTRA_ARGS"
depends_on = ["download", "install_ngm"]
[tasks.nrgbd_ki]
cmd = "python -m neural_graph_mapping.run_mapping --config nrgbd_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/nrgbd/ --dataset_config.scene kitchen $NGM_EXTRA_ARGS"
depends_on = ["download", "install_ngm"]
[tasks.nrgbd_ma]
cmd = "python -m neural_graph_mapping.run_mapping --config nrgbd_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/nrgbd/ --dataset_config.scene morning_apartment $NGM_EXTRA_ARGS"
depends_on = ["download", "install_ngm"]
[tasks.nrgbd_sc]
cmd = "python -m neural_graph_mapping.run_mapping --config nrgbd_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/nrgbd/ --dataset_config.scene staircase $NGM_EXTRA_ARGS"
depends_on = ["download", "install_ngm"]
[tasks.nrgbd_tg]
cmd = "python -m neural_graph_mapping.run_mapping --config nrgbd_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/nrgbd/ --dataset_config.scene thin_geometry $NGM_EXTRA_ARGS"
depends_on = ["download", "install_ngm"]
[tasks.nrgbd_wr]
cmd = "python -m neural_graph_mapping.run_mapping --config nrgbd_dataset.yaml neural_graph_map.yaml coslam_eval.yaml --dataset_config.root_dir $NGM_DATA_DIR/nrgbd/ --dataset_config.scene whiteroom $NGM_EXTRA_ARGS"
depends_on = ["download", "install_ngm"]
[tasks.nrgbd_all]
depends_on = ["nrgbd_br", "nrgbd_ck", "nrgbd_gr", "nrgbd_gwr", "nrgbd_ma", "nrgbd_tg", "nrgbd_wr", "nrgbd_sc", "nrgbd_ki"]
[tasks.all]
depends_on = ["kintinuous", "replica_imap_all", "replica_big_all", "nrgbd_all"]