-
Notifications
You must be signed in to change notification settings - Fork 0
/
config.yaml
134 lines (115 loc) · 3.34 KB
/
config.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
# TODO: Move all the things related to the model inside a particular model file
# - for example: train, evaluate etc. etc.
defaults:
- env: env
- evaluate: tn_model
- ray: disabled
- train: shape_completion
- data_gen: seg_sc
seeds:
data_split: 1
data_gen: 2
train: 3
test: 100
preprocess_paths: ["dataset/train_sc.txt",
"dataset/val_sc.txt",
"dataset/train.txt",
"dataset/val.txt"]
vol_match_6DoF:
# data generation
gpu_frac: 1
unit_kit: False
p0_vol_shape_gen: [128, 128, 128] # vox_size = 0.0008928571428571428
p1_vol_shape_gen: [400, 400, 256]
image_size: [640, 1280] # for transporternet
image_size_d2o: [720, 720] # for depth2orient
# dataset
p0_vol_shape: [128, 128, 128] # vox_size = 0.0008928571428571428
p1_vol_shape: [256, 256, 256]
p0_vol_shape_transport: [128, 128, 80]
p1_vol_shape_transport: [256, 256, 192]
max_perturb_delta: [32, 32, 32]
max_perturb_angle: 0.48
min_d: 0
min_angle: 0
# transporter configs
upsample: False
# rotator configs
delta_angle: 0.08
np_part: 2048
np_kit: 4096
rotator_type: "classify"
pointnet_type: "pointnet2"
regression: False
# for classifier
temperature: 1
dist_aware_loss: True
double_run: False
# for matcher
margin: 1
share_wts: False
proj_head: False
dataset_size: 1000
dataset_path: "dataset/vol_match_abc"
dataset_split: "val"
lite: False
load_model: True
max_yaw_pitch: 15 # for no user input, in degrees
# <-------------------------> #
# without user input models #
# <-------------------------> #
transporter_path: 'checkpoints/oracle_transporter_full.pth'
rotator_path: 'checkpoints/oracle_rotator_full.pth'
vol_type: 'oracle'
evaluate_save_path: "val_oracle_full"
# transporter_path: 'checkpoints/sc_transporter_full.pth'
# rotator_path: 'checkpoints/sc_rotator_full.pth'
# vol_type: 'sc'
# evaluate_save_path: "val_sc_full"
# transporter_path: 'checkpoints/raw_transporter_full.pth'
# rotator_path: 'checkpoints/raw_rotator_full.pth'
# vol_type: 'raw'
# evaluate_save_path: "val_raw_full"
# <----------------------> #
# with user input models #
# <--------------------
# transporter_path: 'checkpoints/oracle_transporter.pth'
# rotator_path: 'checkpoints/oracle_rotator.pth'
# vol_type: 'oracle'
# evaluate_save_path: "val_oracle"
# transporter_path: 'checkpoints/sc_transporter.pth'
# rotator_path: 'checkpoints/sc_rotator.pth'
# vol_type: 'sc'
# evaluate_save_path: "val_sc"
# transporter_path: 'checkpoints/raw_transporter.pth'
# rotator_path: 'checkpoints/raw_rotator.pth'
# vol_type: 'raw'
# evaluate_save_path: "val_raw"
evaluate_size: 100
evaluate_gen_gifs: False
use_gt_pos: False
use_gt_ori: False
no_user_input: False
assets_path: "assets/"
seed: "???"
perception:
seg:
use_gt: False
path: "checkpoints/seg.pth"
use_depth: true
normalize_depth: true
mask_score_threshold: 0.5 # masks with score < this will be ignored
mask_threshold: 0.90 # mask >=0.9 will be treated as 1. Others will be 0
sc:
use_gt: False
path: "checkpoints/sc_obj.pth"
sc_kit:
path: "checkpoints/sc_kit.pth"
scene_path: "visualizer/client/dist/scenes/json_scene"
kits_path: "assets/kits/"
seed: "???"
debug_path_name: "untitled"
hydra:
output_subdir: null
run:
dir: .