Usage:
import torch
ddpm, lidar_utils, cfg = torch.hub.load(
repo_or_dir = "kazuto1011/r2dm",
model = "pretrained_r2dm",
config = "r2dm-h-kitti360-300k", # default
device = "cuda",
)KITTI-360 (64x1024, spherical projection)
| Config | Loss | Depth | Positional Encoding | FRD (T=256) ↓ | torch.load kwargs |
|---|---|---|---|---|---|
| A | L2 | Log | Identity | 202.40 | config="r2dm-a-kitti360-300k" |
| B | L1 | Log | Identity | 382.35 | config="r2dm-b-kitti360-300k" |
| C | Huber | Log | Identity | 174.83 | config="r2dm-c-kitti360-300k" |
| D | L2 | Metric | Identity | 229.28 | config="r2dm-d-kitti360-300k" |
| E | L2 | Inverse | Identity | 188.84 | config="r2dm-e-kitti360-300k" |
| F | L2 | Log | w/o spatial bias | 910.67 | config="r2dm-f-kitti360-300k" |
| G | L2 | Log | Spherical harmonics | 180.60 | config="r2dm-g-kitti360-300k" |
| H | L2 | Log | Fourier features | 153.73 | config="r2dm-h-kitti360-300k" (default) |
KITTI-Raw (64x512, scan unfolding)
| Config | Loss | Depth | Positional Encoding | FRD (T=1024) ↓ | torch.load kwargs |
|---|---|---|---|---|---|
| H | L2 | Log | Fourier features | 207.31 | config="r2dm-h-kittiraw-300k" |