multiple feature updates, see [changelog.md](docs/misc/changelog.md)

zju3dv · Aug 6, 2024 · 9e5ef5e · 9e5ef5e
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diff --git a/configs/base.yaml b/configs/base.yaml
@@ -12,6 +12,7 @@ profiler_cfg:
     enabled: False # no profiling by default
 print_model: False # defaults to a compact interface
 preparing_parser: False
+print_parameters: True
 
 # Top level model building
 model_cfg:
@@ -120,6 +121,7 @@ val_dataloader_cfg: # we see the term "dataloader" a one word?
 runner_cfg: &runner_cfg
     type: VolumetricVideoRunner
     epochs: 400
+    # decay_epochs: 400
     ep_iter: 500
     optimizer_cfg:
         type: ConfigurableOptimizer

diff --git a/configs/datasets/actorshq/actorshq.yaml b/configs/datasets/actorshq/actorshq.yaml
@@ -10,7 +10,7 @@ val_dataloader_cfg:
         <<: *dataset_cfg
         frame_sample: [0, null, 100]
     sampler_cfg:
-        view_sample: [0, 160, 30]
+        view_sample: [0, 160, 1]
 
 model_cfg:
     sampler_cfg:

diff --git a/configs/datasets/badminton/seq3.yaml b/configs/datasets/badminton/seq3.yaml
@@ -0,0 +1,59 @@
+dataloader_cfg: # we see the term "dataloader" as one word?
+    dataset_cfg: &dataset_cfg
+        data_root: data/badminton/seq3
+        masks_dir: bgmtv2
+        bounds: [[-3.5, -6.7, -4.0], [7.5, 9.2, 0.45]]
+        view_sample: [0, null, 1] # use all views
+        frame_sample: [0, 500, 1] # only train for 200 frames
+
+        vhull_voxel_size: 0.003
+        intersect_camera_bounds: False
+        # vhull_thresh: 0.95
+        # count_thresh: 16
+
+        # Should refactor VolumetricVideoDataset to support zero weight in non-masked regions
+        # bkgd_weight: 0.0
+        # avg_using_all: True
+        # avg_max_count: 50 # should match inference with this
+
+        # use_masks: True
+        # masks_dir: inv_maskes # for the scene
+        # dist_opt_K: True # useful for large distortion values
+        near: 0.1
+        far: 20.0
+
+val_dataloader_cfg:
+    dataset_cfg:
+        <<: *dataset_cfg
+        view_sample: [0, null, 10] # one training, two testing
+        frame_sample: [0, null, 200] # one training, two testing
+
+viewer_cfg:
+    playing_fps: 50
+    window_size: [1080, 1920]
+    camera_cfg:
+        origin: [0.8365561962127686, -0.2532264292240143, 0.04289454594254494]
+        # world_up: [0, 0, -1] # negative of the y component of the rotation
+        world_up: [0.014027, 0.090914, -0.995760] # negative of the y component of the rotation
+        # prettier-ignore
+        K: [[1568.789130, 0.000000, 960.000000], [0.000000, 1571.591066, 540.000000], [0.000000, 0.000000, 1.000000]]
+        # prettier-ignore
+        R: [[0.888063, 0.456517, 0.054191], [-0.014027, -0.090914, 0.995760], [0.459508, -0.885058, -0.074334]]
+        # prettier-ignore
+        T: [-0.458918, 0.078427, 0.597564]
+        n: 0.5
+        f: 6.0
+# evc-test -c configs/base.yaml,configs/models/r4dv.yaml,configs/datasets/badminton/seq3_obj.yaml,configs/specs/vhulls.yaml val_dataloader_cfg.dataset_cfg.vhull_thresh=0.75 val_dataloader_cfg.dataset_cfg.count_thresh=6 val_dataloader_cfg.dataset_cfg.vhulls_dir=vhulls_g val_dataloader_cfg.dataset_cfg.reload_vhulls=True val_dataloader_cfg.dataset_cfg.frame_sample=90,91,1
+
+# evc-test -c configs/base.yaml,configs/models/r4dv.yaml,configs/datasets/badminton/seq3.yaml,configs/specs/vhulls.yaml val_dataloader_cfg.dataset_cfg.reload_vhulls=True val_dataloader_cfg.dataset_cfg.vhull_voxel_size=0.001
+# evc-test -c configs/base.yaml,configs/models/r4dv.yaml,configs/datasets/badminton/seq3.yaml,configs/specs/surfs.yaml
+# python scripts/reality_capture/dense_reconstruction.py --recopy_xmps --pcds_dir "C:/Users/AAA/Desktop/dense_xyzs_rc" --frame_sample 0 500 200 --data_root data/badminton/seq3
+
+# python scripts/points/ibr_colorization.py --data_root data/badminton/seq3 --input surfs18k_j10 --output surfs18k_j10 --frame_sample 0 500 10
+# python scripts/points/ibr_colorization.py --data_root data/badminton/seq3 --input surfs7k --output surfs7k --frame_sample 0 500 1
+
+# {"H":1080,"W":1920,"K":[[2566.73681640625,0.0,960.0],[0.0,2563.31982421875,540.0],[0.0,0.0,1.0]],"R":[[-0.826229453086853,0.5633337497711182,0.0],[-0.1273532509803772,-0.18678626418113708,0.9741355180740356],[0.5487633943557739,0.804859459400177,0.22607068717479706]],"T":[[0.8383246660232544],[0.022542357444763184],[2.7940902709960938]],"n":0.5,"f":6.0,"t":0.0,"v":0.0,"bounds":[[-8.0,-4.0,-1.0],[10.0,6.0,5.0]],"mass":0.10000000149011612,"moment_of_inertia":0.10000000149011612,"movement_force":1.0,"movement_torque":1.0,"movement_speed":1.0,"origin":[0.8365561962127686,-0.2532264292240143,0.04289454594254494],"world_up":[0.0,0.0,-1.0]}
+
+# {"H":1080,"W":1920,"K":[[1216.73681640625,0.0,960.0],[0.0,1215.117431640625,540.0],[0.0,0.0,1.0]],"R":[[-0.8511601090431213,0.5249061584472656,0.0],[-0.08109844475984573,-0.13150495290756226,0.9879946708679199],[0.5186044573783875,0.8409416079521179,0.1545008420944214]],"T":[[0.8062191009521484],[0.008099749684333801],[0.6115821003913879]],"n":0.5,"f":6.0,"t":0.0,"v":0.0,"bounds":[[-8.0,-4.0,-1.0],[10.0,6.0,5.0]],"mass":0.10000000149011612,"moment_of_inertia":0.10000000149011612,"movement_force":1.0,"movement_torque":1.0,"movement_speed":1.0,"origin":[0.8365561962127686,-0.2532264292240143,0.04289454594254494],"world_up":[0.0,0.0,-1.0]}
+
+# {"H":1080,"W":1920,"K":[[1569.4375,0.0,960.0],[0.0,1567.9122314453125,540.0],[0.0,0.0,1.0]],"R":[[-0.9162140488624573,0.4006893038749695,0.0],[0.05992348864674568,0.13702073693275452,0.9887537956237793],[0.3961830139160156,0.9059100151062012,-0.14955100417137146]],"T":[[0.6660770177841187],[0.1291079968214035],[0.7863659858703613]],"n":0.5,"f":6.0,"t":0.0,"v":0.0,"bounds":[[-8.0,-4.0,-1.0],[10.0,6.0,5.0]],"mass":0.10000000149011612,"moment_of_inertia":0.10000000149011612,"movement_force":1.0,"movement_torque":1.0,"movement_speed":1.0,"origin":[0.8365561962127686,-0.2532264292240143,0.04289454594254494],"world_up":[0.0,0.0,-1.0]}
diff --git a/configs/datasets/badminton/seq3_obj.yaml b/configs/datasets/badminton/seq3_obj.yaml
@@ -0,0 +1,10 @@
+configs: configs/datasets/badminton/seq3.yaml
+
+dataloader_cfg: &dataloader_cfg
+    dataset_cfg: &dataset_cfg # ratio: 0.5
+        bounds: [[-0.5810, -1.1776, -0.1243], [2.9934, 0.6394, 0.3520]]
+        # bounds: [[ 0.1040, -0.5376, -0.1983], [ 2.0850, 0.2884, 0.2797]]
+
+val_dataloader_cfg:
+    dataset_cfg:
+        <<: *dataset_cfg
diff --git a/configs/datasets/dnerf_synthetic/dnerf_synthetic.yaml b/configs/datasets/dnerf_synthetic/dnerf_synthetic.yaml
@@ -3,23 +3,16 @@ dataloader_cfg: # we see the term "dataloader" as one word?
         # ratio: 0.5 # align with D-NeRF
         view_sample: [0, 1, 1] # monocular dataset
         frame_sample: [0, null, 1]
-        use_default_time: True # use dataset provided timestamp
+        # Camera related configs
+        dist_opt_K: False
+        use_loaded_time: True # use dataset provided timestamp
         use_aligned_cameras: False # NOTE: cannot align cameras when using monocular dataset
         # Volume based configs
         bounds: [[-8.0, -8.0, -8.0], [8.0, 8.0, 8.0]]
         near: 2.0
         far: 6.0
-        # Mask related configs
-        use_masks: True
-        use_vhulls: False
-        immask_crop: False
-        imbound_crop: False
 
 val_dataloader_cfg:
     dataset_cfg:
         <<: *dataset_cfg
         interp_using_t: True # interpolate using time
-
-model_cfg:
-    supervisor_cfg:
-        msk_loss_weight: 0.01
diff --git a/configs/datasets/dtu/dtu.yaml b/configs/datasets/dtu/dtu.yaml
@@ -23,4 +23,4 @@ val_dataloader_cfg:
     dataset_cfg:
         <<: *dataset_cfg
     sampler_cfg:
-        frame_sample: [0, null, 200] # one training, two testing
+        frame_sample: [0, null, 25] # one training, two testing
diff --git a/configs/datasets/enerf_outdoor/enerf_outdoor.yaml b/configs/datasets/enerf_outdoor/enerf_outdoor.yaml
@@ -32,9 +32,11 @@ runner_cfg:
         video_fps: 60 # this dataset id built differently
 
 viewer_cfg:
+    playing_fps: 60
+    window_size: [1080, 1920]
     camera_cfg:
         # prettier-ignore
-        K: [[1639.199951171875,0.0,683.0],[0.0,1639.199951171875,384.0],[0.0,0.0,1.0]]
+        # K: [[1639.199951171875,0.0,683.0],[0.0,1639.199951171875,384.0],[0.0,0.0,1.0]]
         # prettier-ignore
         R: [[0.8829049468040466,-0.46955186128616333,0.0],[-0.005646302364766598,-0.010616821236908436,-0.9999276995658875],[0.46951788663864136,0.8828410506248474,-0.012024874798953533]]
         # prettier-ignore

diff --git a/configs/datasets/enerf_outdoor/pretrain.yaml b/configs/datasets/enerf_outdoor/pretrain.yaml
@@ -0,0 +1,14 @@
+configs: configs/datasets/enerf_outdoor/enerf_outdoor.yaml
+dataloader_cfg: &dataloader_cfg
+    dataset_cfg:
+        type: GeneralizableDataset
+        meta_roots: [data/enerf_outdoor] # for now, only pretrain on dtu
+
+val_dataloader_cfg:
+    <<: *dataloader_cfg
+    sampler_cfg:
+        type: SequentialSampler
+        frame_sample: [0, null, 1000] # only render a very small number of images
+
+runner_cfg:
+    epochs: 400 # more than enough training
diff --git a/configs/datasets/mobile_stage/dance3.yaml b/configs/datasets/mobile_stage/dance3.yaml
@@ -4,7 +4,8 @@ dataloader_cfg: # we see the term "dataloader" as one word?
         data_root: data/mobile_stage/dance3
         masks_dir: bgmtv2
         # bounds: [[-2.6625, -2.1826, -1.0188], [0.8725, 0.9999, 1.4587]] # thinner?
-        bounds: [[-10.0, -10.0, -3.0], [10.0, 10.0, 3.0]] # thinner?
+        bounds: [[-6.056, -3.76, -1.344], [6.477, 2.277, 2.9403]] # thinner?
+        # bounds: [[-10.0, -10.0, -3.0], [10.0, 10.0, 3.0]] # thinner?
         # bounds: [[-15.0, -15.0, -5.0], [15.0, 15.0, 5.0]] # thinner?
         near: 1.5 # large enough
         far: 100.0 # large enough
@@ -29,12 +30,20 @@ val_dataloader_cfg:
         <<: *dataset_cfg
 
 viewer_cfg:
+    # window_size: [1080, 1920]
     camera_cfg:
         # prettier-ignore
-        R: [[0.9900417923927307,-0.14077377319335938,0.0],[-0.02820173278450966,-0.19833874702453613,-0.9797297120094299],[0.13792024552822113,0.9699733257293701,-0.20033371448516846]]
+        R: [[0.9915955066680908,-0.1293765753507614,0.0],[-0.010172899812459946,-0.07796930521726608,-0.9969105124473572],[0.12897688150405884,0.9885320663452148,-0.07863014936447144]]
         # prettier-ignore
-        T: [[-0.13352864980697632],[-0.6429579854011536],[5.76825475692749]]
+        T: [[0.9184496998786926],[-0.07131049036979675],[4.984544277191162]]
         # prettier-ignore
-        K: [[1227.75,0.0,946.7529907226562],[0.0,1219.8775634765625,548.2080078125],[0.0,0.0,1.0]]
+        K: [[1166.0,0.0,683.0],[0.0,1166.0,384.0],[0.0,0.0,1.0]]
+        origin: [-0.9990301728248596,-1.204085111618042,0.04464561492204666]
         n: 2.5
-# {"H":768,"W":1366,"K":[[1227.75,0.0,946.7529907226562],[0.0,1219.8775634765625,548.2080078125],[0.0,0.0,1.0]],"R":[[0.9900417923927307,-0.14077377319335938,0.0],[-0.02820173278450966,-0.19833874702453613,-0.9797297120094299],[0.13792024552822113,0.9699733257293701,-0.20033371448516846]],"T":[[-0.13352864980697632],[-0.6429579854011536],[5.76825475692749]],"n":1.5,"f":100.0,"t":0.7299925088882446,"v":0.0,"bounds":[[-10.0,-10.0,-3.0],[10.0,10.0,3.0]],"mass":0.10000000149011612,"moment_of_inertia":0.10000000149011612,"movement_force":1.0,"movement_torque":1.0,"movement_speed":1.0,"origin":[0.37696364521980286,-0.06292950361967087,-0.2327267974615097],"world_up":[0.0,0.0,1.0]}
+        H: 768
+        W: 1366
+# {"H":768,"W":1366,"K":[[1177.75,0.0,946.7529907226562],[0.0,1170.1981201171875,548.2080078125],[0.0,0.0,1.0]],"R":[[0.9841923713684082,-0.17710267007350922,0.0],[-0.03624143451452255,-0.20140035450458527,-0.9788408875465393],[0.1733553409576416,0.963367760181427,-0.2046351581811905]],"T":[[-0.017860352993011475],[-0.7217379212379456],[4.971471786499023]],"n":2.5,"f":100.0,"t":0.8399962782859802,"v":0.0,"bounds":[[-10.0,-10.0,-3.0],[10.0,10.0,3.0]],"mass":0.10000000149011612,"moment_of_inertia":0.10000000149011612,"movement_force":1.0,"movement_torque":1.0,"movement_speed":1.0,"origin":[0.0,0.0,0.0],"world_up":[0.0,0.0,1.0]}
+# {"H":768,"W":1366,"K":[[1166.0,0.0,683.0],[0.0,1166.0,384.0],[0.0,0.0,1.0]],"R":[[0.9915955066680908,-0.1293765753507614,0.0],[-0.010172899812459946,-0.07796930521726608,-0.9969105124473572],[0.12897688150405884,0.9885320663452148,-0.07863014936447144]],"T":[[0.9184496998786926],[-0.07131049036979675],[4.984544277191162]],"n":2.5,"f":100.0,"t":0.025624999776482582,"v":0.0,"bounds":[[-10.0,-10.0,-3.0],[10.0,10.0,3.0]],"mass":0.10000000149011612,"moment_of_inertia":0.10000000149011612,"movement_force":1.0,"movement_torque":1.0,"movement_speed":1.0,"origin":[0.0,0.0,0.0],"world_up":[0.0,0.0,1.0]}
+# {"H":768,"W":1366,"K":[[1166.0,0.0,683.0],[0.0,1166.0,384.0],[0.0,0.0,1.0]],"R":[[0.9932864308357239,-0.11568054556846619,0.0],[-0.009264870546758175,-0.07955244183540344,-0.9968063831329346],[0.11531111598014832,0.9901143312454224,-0.08009013533592224]],"T":[[0.8644105792045593],[-0.13056743144989014],[5.346096038818359]],"n":2.5,"f":100.0,"t":0.8137500286102295,"v":0.0,"bounds":[[-6.056000232696533,-3.759999990463257,-1.343999981880188],[6.4770002365112305,2.2769999504089355,2.9402999877929688]],"mass":0.10000000149011612,"moment_of_inertia":0.10000000149011612,"movement_force":1.0,"movement_torque":1.0,"movement_speed":1.0,"origin":[-0.9990301728248596,-1.204085111618042,0.04464561492204666],"world_up":[0.0,0.0,1.0]}
+
+# python scripts/triangulate_evc.py --data_root /mnt/data/home/xuzhen/datasets/mobile_stage/dance3 --pairs "(('04','05'),('06','25'),('10','11'))" --bounds "xxxxxx" --n_points 18000 --start_idx 0 --end_idx 1600 --jump_idx 1 --output_dir pcds_roma_3p_18k
diff --git a/configs/datasets/neural3dv/flame_salmon.yaml b/configs/datasets/neural3dv/flame_salmon.yaml
@@ -2,7 +2,7 @@ configs: configs/datasets/neural3dv/neural3dv.yaml # inherit from this config
 dataloader_cfg:
     dataset_cfg: &dataset_cfg
         data_root: data/neural3dv/flame_salmon
-        far: 2000.0 # camera near far range, affects ray sampling and some cost volume based algorithms
+        far: 5000.0 # camera near far range, affects ray sampling and some cost volume based algorithms
 
 val_dataloader_cfg:
     dataset_cfg:

diff --git a/configs/datasets/neural3dv/neural3dv.yaml b/configs/datasets/neural3dv/neural3dv.yaml
@@ -17,6 +17,7 @@ val_dataloader_cfg:
         view_sample: [0, 21, 1] # make rendering faster, if doing IBR, change the view_sample in sampler_cfg to control which view to render
 
 viewer_cfg:
+    window_size: [1014, 1352]
     camera_cfg:
         world_up: [0, -1, 0] # this dataset uses a strange camera system, align it when using the viewer
         # prettier-ignore
@@ -26,5 +27,9 @@ viewer_cfg:
         T: [[-0.2975313067436218], [-1.2581647634506226], [0.2818146347999573]]
         movement_speed: 10.0
         movement_force: 10.0
+        n: 4.0
+        f: 1000.0
 
-# {"H":768,"W":1366,"K":[[736.5288696289062,0.0,682.7473754882812],[0.0,736.4380493164062,511.99737548828125],[0.0,0.0,1.0]],"R":[[0.9938720464706421,0.0,-0.11053764075040817],[-0.0008741595083847642,0.9999688267707825,-0.007859790697693825],[0.1105341762304306,0.007908252067863941,0.9938408732414246]],"T":[[-0.2975313067436218],[-1.2581647634506226],[0.2818146347999573]],"n":4.0,"f":2000.0,"t":0.0,"v":0.0,"bounds":[[-20.0,-15.0,4.0],[20.0,15.0,25.0]],"mass":0.10000000149011612,"moment_of_inertia":0.10000000149011612,"movement_force":10.0,"movement_torque":1.0,"movement_speed":10.0,"origin":[0.0,0.0,0.0],"world_up":[0.0,-1.0,0.0]}
+        H: 768
+        W: 1366
+# {"H":768,"W":1366,"K":[[736.5288696289062,0.0,682.7473754882812],[0.0,736.4380493164062,511.99737548828125],[0.0,0.0,1.0]],"R":[[0.9938720464706421,0.0,-0.11053764075040817],[-0.0008741595083847642,0.9999688267707825,-0.007859790697693825],[0.1105341762304306,0.007908252067863941,0.9938408732414246]],"T":[[-0.2975313067436218],[-1.2581647634506226],[0.2818146347999573]],"n":4.0,"f":2000.0,"t":0.0,"v":0.0,"bounds":[[-20.0,-15.0,4.0],[20.0,15.0,25.0]],"mass":0.10000000149011612,"moment_of_inertia":0.10000000149011612,"movement_force":10.0,"movement_torque":1.0,"movement_speed":10.0,"origin":[0.0,0.0,0.0],"world_up":[0.0,-1.0,0.0]}
diff --git a/configs/datasets/renbody/0023_06_obj.yaml b/configs/datasets/renbody/0023_06_obj.yaml
@@ -4,6 +4,7 @@ dataloader_cfg: # we see the term "dataloader" as one word?
     dataset_cfg: &dataset_cfg
         data_root: data/renbody/0023_06
         images_dir: images_calib
+        bounds: [[-0.7310, -0.7813, -0.9621], [ 0.5340, 0.9587, 0.9929]]
 
 val_dataloader_cfg:
     dataset_cfg:

diff --git a/configs/datasets/selfcap/0330_01.yaml b/configs/datasets/selfcap/0330_01.yaml
@@ -0,0 +1,57 @@
+configs: configs/datasets/selfcap/selfcap.yaml # inherit from this config
+dataloader_cfg:
+    dataset_cfg: &dataset_cfg
+        data_root: data/selfcap/0330_01
+        # ratio: 1.0
+        near: 4.0
+        far: 100.0 # camera near far range, affects ray sampling and some cost volume based algorithms
+        bounds: [[-14, -10, 9], [13, 16, 33]] # axis-aligned bounding box of the scene, affects ray sampling and bounding box of some explicit algorithms
+
+val_dataloader_cfg:
+    dataset_cfg:
+        <<: *dataset_cfg
+
+viewer_cfg:
+    # window_size: [2160, 3840]
+    window_size: [1920, 1080] # H, W
+    camera_cfg:
+        K:
+            [
+                1.51813536e+03,
+                0.00000000e+00,
+                5.45339167e+02,
+                0.00000000e+00,
+                1.51849198e+03,
+                9.75524763e+02,
+                0.00000000e+00,
+                0.00000000e+00,
+                1.00000000,
+            ]
+        R:
+            [
+                -0.9202095856,
+                -0.0363412112,
+                -0.3897353397,
+                -0.1556091941,
+                0.9475839455,
+                0.2790527637,
+                0.3591658354,
+                0.3174334302,
+                -0.8776308564,
+            ]
+        T: [3.5356544765, 1.1475705902, 1.0215417787]
+        world_up: [0, -1, 0]
+
+        # # prettier-ignore
+        # K: [[2466.0,0.0,683.0],[0.0,2466.0,384.0],[0.0,0.0,1.0]]
+        # # prettier-ignore
+        # R: [[0.9993480443954468,-0.036100730299949646,0.0],[0.03573083132505417,0.9891083836555481,-0.14281366765499115],[0.0051556783728301525,0.14272058010101318,0.9897536635398865]]
+        # # prettier-ignore
+        # T: [[-0.5007858276367188],[1.252826452255249],[20.677616119384766]]
+        # world_up: [-0.14590410888195038,-0.9888504147529602,0.03004370629787445]
+        movement_speed: 10.0
+        movement_force: 10.0
+        # H: 768
+        # W: 1366
+# {"H":768,"W":1366,"K":[[2466.0,0.0,683.0],[0.0,2466.0,384.0],[0.0,0.0,1.0]],"R":[[0.9993480443954468,-0.036100730299949646,0.0],[0.03573083132505417,0.9891083836555481,-0.14281366765499115],[0.0051556783728301525,0.14272058010101318,0.9897536635398865]],"T":[[-0.5007858276367188],[1.252826452255249],[20.677616119384766]],"n":4.0,"f":100.0,"t":0.0,"v":0.0,"bounds":[[-14.0,-10.0,9.0],[13.0,16.0,33.0]],"mass":0.10000000149011612,"moment_of_inertia":0.10000000149011612,"movement_force":10.0,"movement_torque":1.0,"movement_speed":10.0,"origin":[0.0,0.0,0.0],"world_up":[0.0,0.0,1.0]}
+
diff --git a/configs/datasets/selfcap/0330_01_evc.yaml b/configs/datasets/selfcap/0330_01_evc.yaml
@@ -0,0 +1,25 @@
+configs: configs/datasets/selfcap/selfcap.yaml # inherit from this config
+dataloader_cfg:
+    dataset_cfg: &dataset_cfg
+        data_root: data/selfcap/0330_01_evc
+        near: 4.0
+        far: 100.0 # camera near far range, affects ray sampling and some cost volume based algorithms
+        bounds: [[-14, -10, 9], [13, 16, 33]] # axis-aligned bounding box of the scene, affects ray sampling and bounding box of some explicit algorithms
+
+val_dataloader_cfg:
+    dataset_cfg:
+        <<: *dataset_cfg
+
+viewer_cfg:
+    camera_cfg:
+        # prettier-ignore
+        K: [[2466.0,0.0,683.0],[0.0,2466.0,384.0],[0.0,0.0,1.0]]
+        # prettier-ignore
+        R: [[0.9993480443954468,-0.036100730299949646,0.0],[0.03573083132505417,0.9891083836555481,-0.14281366765499115],[0.0051556783728301525,0.14272058010101318,0.9897536635398865]]
+        # prettier-ignore
+        T: [[-0.5007858276367188],[1.252826452255249],[20.677616119384766]]
+        world_up: [-0.14590410888195038,-0.9888504147529602,0.03004370629787445]
+        movement_speed: 10.0
+# {"H":768,"W":1366,"K":[[2466.0,0.0,683.0],[0.0,2466.0,384.0],[0.0,0.0,1.0]],"R":[[0.9993480443954468,-0.036100730299949646,0.0],[0.03573083132505417,0.9891083836555481,-0.14281366765499115],[0.0051556783728301525,0.14272058010101318,0.9897536635398865]],"T":[[-0.5007858276367188],[1.252826452255249],[20.677616119384766]],"n":4.0,"f":100.0,"t":0.0,"v":0.0,"bounds":[[-14.0,-10.0,9.0],[13.0,16.0,33.0]],"mass":0.10000000149011612,"moment_of_inertia":0.10000000149011612,"movement_force":1.0,"movement_torque":1.0,"movement_speed":10.0,"origin":[0.0,0.0,0.0],"world_up":[0.0,0.0,1.0]}
+
+# {"H":768,"W":1366,"K":[[2466.0,0.0,683.0],[0.0,2466.0,384.0],[0.0,0.0,1.0]],"R":[[0.9892891645431519,-0.14596883952617645,0.0],[-0.004385444801300764,-0.02972191385924816,-0.9995564818382263],[0.14590410888195038,0.9888504147529602,-0.03004370629787445]],"T":[[-1.6721011400222778],[19.879987716674805],[20.79227066040039]],"n":4.0,"f":100.0,"t":0.0,"v":0.0,"bounds":[[-14.0,-10.0,9.0],[13.0,16.0,33.0]],"mass":0.10000000149011612,"moment_of_inertia":0.10000000149011612,"movement_force":1.0,"movement_torque":1.0,"movement_speed":10.0,"origin":[0.0,0.0,0.0],"world_up":[0.0,0.0,1.0]}