-
Notifications
You must be signed in to change notification settings - Fork 5
/
Copy pathconfig.yml
46 lines (29 loc) · 2.56 KB
/
config.yml
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
data_root:
data_root_folder: "/home/robot/Project/OverlapTransformer/data_root_folder/" # KITTI sequences root
valid_scan_folder: "/home/robot/下载/kitti/sequences/02/velodyne" # KITTI sequence 02 velodyne
gt_valid_folder: "/home/robot/Project/OverlapTransformer/gt_valid_folder/" # KITTI sequence 02 computed overlaps
# data_root_folder: "/home/robot/Project/OverlapTransformer/dataset-1/" # Ford campus sequences root
# valid_scan_folder: "/home/robot/下载/kitti/sequences/02/velodyne" # KITTI sequence 02 velodyne
# gt_valid_folder: "/home/robot/Project/OverlapTransformer/gt_valid_folder/" # KITTI sequence 02 computed overlaps
# data_root_folder: "/home/robot/Project/CVTNet/NCLT/" # NCLT sequences root
demo1_config:
calib_file: "/home/robot/Project/OverlapTransformer/data_root_folder/00/calib.txt" # calibration file from KITTI 00
poses_file: "/home/robot/Project/OverlapTransformer/weights/00.txt" # pose file from KITTI 00
test_weights: "/home/robot/Project/OverlapTransformer/weights/pretrained_overlap_transformer.pth.tar" # pretrained model
training_config:
training_seqs: ["03", "04", "05","06", "07", "08", "09", "10"] # KITTI sequences for training
# training_seqs: ["2012-01-08_vel/2012-01-08"] # KITTI sequences for training
test_config:
test_seqs: ["00"] # KITTI sequence 00 for evaluation
test_weights: "/home/robot/下载/OverlapTransformer-master-copy/weights/final_weight/trained_overlap_transformer16.pth.tar" # pretrained model
gt_file: "/home/robot/Project/OverlapTransformer/data_root_folder/loop_gt_seq00_0.3overlap_inactive.npz" # ground truth
# test_seqs: [ "00" ] # Ford campus sequence 00 for evaluation
# test_weights: "/home/robot/下载/OverlapTransformer-master-copy/weights/shift_bimamba_sppf_80/trained_overlap_transformer4.pth.tar" # pretrained model
# gt_file: "/home/robot/下载/Ford campus/loop_gt_seq00_0.3overlap_inactive.npz" # ground truth
# test_seqs: ["2012-02-05_vel/2012-02-05"] # KITTI sequence 00 for evaluation
# test_weights: "/home/robot/下载/OverlapTransformer-master-copy/weights/nclt_npy/pretrained_overlap_transformer_haomo22.pth.tar" # pretrained model
# gt_file: "/home/robot/Project/CVTNet/NCLT/2012-02-05_vel/2012-02-05/overlaps/gt.npz" # ground truth
viz_config:
calib_file: "/home/robot/Project/OverlapTransformer/data _root_folder/00/calib.txt" # calibration file from KITTI 00
poses_file: "/home/robot/Project/OverlapTransformer/weights/00.txt" # pose file from KITTI 00
cov_file: "/home/robot/Project/OverlapTransformer/weights/covariance_2nd.txt" # covariance file from SUMA++ on KITTI 00