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# --------------------------------------------------------
# training executable for DUSt3R
# --------------------------------------------------------
from dust3r.training import get_args_parser, train, load_model
from dust3r.pose_eval import eval_pose_estimation, pose_estimation_custom
from dust3r.depth_eval import eval_mono_depth_estimation
import croco.utils.misc as misc # noqa
import torch
import torch.backends.cudnn as cudnn
import numpy as np
import os
if __name__ == '__main__':
args = get_args_parser()
args = args.parse_args()
if args.mode.startswith('eval'):
misc.init_distributed_mode(args)
global_rank = misc.get_rank()
world_size = misc.get_world_size()
device = "cuda" if torch.cuda.is_available() else "cpu"
device = torch.device(device)
# fix the seed
seed = args.seed + misc.get_rank()
torch.manual_seed(seed)
np.random.seed(seed)
cudnn.benchmark = args.cudnn_benchmark
model, _ = load_model(args, device)
os.makedirs(args.output_dir, exist_ok=True)
if args.mode == 'eval_pose':
ate_mean, rpe_trans_mean, rpe_rot_mean, outfile_list, bug = eval_pose_estimation(args, model, device, save_dir=args.output_dir)
print(f'ATE mean: {ate_mean}, RPE trans mean: {rpe_trans_mean}, RPE rot mean: {rpe_rot_mean}')
if args.mode == 'eval_pose_custom':
pose_estimation_custom(args, model, device, save_dir=args.output_dir)
if args.mode == 'eval_depth':
eval_mono_depth_estimation(args, model, device)
exit(0)
train(args)
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