kitti.yaml

settings:
  gpu: true
  num_workers: 8
  sharing_strategy: "file_system"

data:
  # kitti_root_dir: "data/kitti-odometry/static-gt-labels/" # TOOD: Add support for this
  kitti_root_dir: "data/kitti-odometry/dataset"
  lidar_height: 64
  lidar_width: 2048
  up_fov: 3
  down_fov: -24
  scale_down_factor: 4 # 64 -> 16 beams
  train_sequences: ["07"]
  eval_sequences: ["00"]

fusion:
  voxel_sizes: [40, 20, 10] # cm
  voxel_trunc: 3 # voxels == sdf_trunc
  acc_scans: 25
  scale_down_factor: 4 # 64 -> 16 beams
  min_weight: 5.0 # threshold used fro TSDF pruning

model:
  occ_th: [0.99, 0.99, 0.99]
  f_maps: [4, 16, 32, 64]
  layers_down: [1, 2, 3, 4]
  layers_up: [3, 2, 1]

cache:
  use_cache: True
  cache_dir: "data/cache/kitti-odometry"
  size_limit: 400 # [GiB]

loss:
  mask_plane_loss: True
  mask_l1_loss: True
  use_log_transform: True
  mask_occ_weight: 0.9

optimization:
  lr: 10.e-03
  weight_decay: 1.e-3
  div_factor: 10000

training:
  n_epochs: 329
  effective_batch_size: 400
  train_batch_size: 6
  train_shuffle: true
  val_batch_size: 6
  val_shuffle: false

logging:
  save_dir: logs/
  name: kitti
  weights_summary: full
  log_every_n_steps: 1
  log_graph: true
  lr_monitor_step: step

checkpoints:
  dirpath: checkpoints/
  monitor: train/train_loss
  save_top_k: -1
  mode: min

refusion:
  voxel_size: 0.1
  vox_trunc: 3
  space_carving: False
  out_dir: "results/"
  fill_holes: False
  min_weight: 10.0
  cuda: True
  eta: 0.7