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config.yml
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config.yml
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data_root:
# path of reference range images in database sequence
range_image_database_root: "/media/mjy/Samsung_T5/NCLT_dataset/velodyne_data/2012-01-08_vel/range_image/depth/"
# path of query range images in query sequence
range_image_query_root: "/media/mjy/Samsung_T5/NCLT_dataset/velodyne_data/2012-02-05_vel/range_image/depth/"
training_seqot:
# index for training
traindata_file: "/media/mjy/Samsung_T5/NCLT_dataset/train_set/more_chosen_normalized_data_120108.npy"
# poses file
poses_file: "/media/mjy/Samsung_T5/NCLT_dataset/velodyne_poses/T_w_r_gt_velo_2012-01-08.npy"
# height of range images
height: 32
# width of range images
width: 900
# sequence length to generate sub-descriptors
seqlen: 3
# learning rate for training
lr: 0.0000005
# whether resuming from the pretrained model below
resume: False
# pretrained model
weights: "/media/mjy/Samsung_T5/NCLT_dataset/weights/pretrained_seqot.pth.tar"
gen_sub_descriptors:
# sequence length to generate sub-descriptors
seqlen: 3
# pretrained model
weights: "/media/mjy/Samsung_T5/NCLT_dataset/weights/pretrained_seqot.pth.tar"
training_gem:
# index for training
traindata_file: "/media/mjy/Samsung_T5/NCLT_dataset/train_set/more_chosen_normalized_data_120108.npy"
# poses file
poses_file: "/media/mjy/Samsung_T5/NCLT_dataset/velodyne_poses/T_w_r_gt_velo_2012-01-08.npy"
# sub-descriptors of database for training
descriptors_file: "./des_list_database.npy"
# sequence length to generate final-descriptors
seqlen: 20
# learning rate for training
lr: 0.000005
# whether resuming from the pretrained model below
resume: False
# pretrained model
weights: "./amodel_gem.pth.tar"
test_gem_prepare:
# sub-descriptors of database scans
sub_descriptors_database_file: "../train/des_list_database.npy"
# sub-descriptors of query scans
sub_descriptors_query_file: "../train/des_list_query.npy"
# sequence length to generate final-descriptors
seqlen: 20
# pretrained model
weights: "/home/mjy/dev/OverlapTransformer++_nclt/tools/gem_weights/pretrained_gem.pth.tar"
test_seqot:
# ground truth
ground_truth_file: "/media/mjy/Samsung_T5/NCLT_dataset/gt_by_dis/gt_120108_120205.npy"
viz:
# poses file of database
poses_database: "/media/mjy/Samsung_T5/NCLT_dataset/velodyne_poses/T_w_r_gt_velo_2012-01-08.npy"
# poses file of query
poses_query: "/media/mjy/Samsung_T5/NCLT_dataset/velodyne_poses/T_w_r_gt_velo_2012-02-05.npy"
gen_training_index:
# poses file of database
poses_database: "/media/mjy/Samsung_T5/NCLT_dataset/velodyne_poses/T_w_r_gt_velo_2012-01-08.npy"
# poses file of query
poses_query: "/media/mjy/Samsung_T5/NCLT_dataset/velodyne_poses/T_w_r_gt_velo_2012-02-05.npy"
# path of reference .bin of database
scan_database_root: "/media/mjy/Samsung_T5/NCLT_dataset/velodyne_data/2012-01-08_vel/velodyne_sync/"