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from argparse import ArgumentParser
import rerun as rr
from mini_dpvo.api.inference import inference_dpvo
from mini_dpvo.config import cfg as base_cfg
if __name__ == "__main__":
parser = ArgumentParser()
parser.add_argument("--network-path", type=str, default="checkpoints/dpvo.pth")
parser.add_argument("--imagedir", type=str)
parser.add_argument("--calib", type=str)
parser.add_argument("--stride", type=int, default=2)
parser.add_argument("--skip", type=int, default=0)
parser.add_argument("--buffer", type=int, default=2048)
parser.add_argument("--config", default="config/fast.yaml")
rr.script_add_args(parser)
args = parser.parse_args()
rr.script_setup(args, "mini_dpvo")
base_cfg.merge_from_file(args.config)
base_cfg.BUFFER_SIZE = args.buffer
print("Running with config...")
print(base_cfg)
inference_dpvo(
cfg=base_cfg,
network_path=args.network_path,
imagedir=args.imagedir,
calib=args.calib,
stride=args.stride,
skip=args.skip,
)
rr.script_teardown(args)
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