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dataset: [ '12Scenes' ]
network_1: "segnet"
network: "segnetvit"
local_rank: 0
gpu: [ 0 ]
feature: "sfd2"
save_path: '/scratches/flyer_2/fx221/exp/pram'
landmark_path: "/scratches/flyer_3/fx221/exp/pram/landmarks/sfd2-gml"
dataset_path: "/scratches/flyer_3/fx221/dataset"
config_path: 'configs/datasets'
image_dim: 3
feat_dim: 128
min_inliers: 32
max_inliers: 512
random_inliers: true
max_keypoints: 512
ignore_index: -1
output_dim: 1024
output_dim_: 2048
jitter_params:
brightness: 0.5
contrast: 0.5
saturation: 0.25
hue: 0.15
blur: 0
scale_params: [ 0.5, 1.0 ]
pre_load: false
train: true
inlier_th: 0.5
lr: 0.0001
min_lr: 0.00001
optimizer: "adamw"
seg_loss: "cew"
seg_loss_nx: "cei"
cls_loss: "ce"
cls_loss_: "bce"
ac_fn: "relu"
norm_fn: "bn"
workers: 8
layers: 15
log_intervals: 50
eval_n_epoch: 10
do_eval: false
use_mid_feature: true
norm_desc: false
with_score: false
with_aug: true
with_dist: true
batch_size: 32
its_per_epoch: 1000
decay_rate: 0.999992
decay_iter: 60000
epochs: 500
cluster_method: 'birch'
weight_path: null
weight_path_1: '20230719_220620_segnet_L15_T_resnet4x_B32_K1024_relu_bn_od1024_nc193_adamw_cew_md_A_birch/segnet.499.pth'
weight_path_2: '20240202_145337_segnetvit_L15_T_resnet4x_B32_K512_relu_bn_od1024_nc193_adam_cew_md_A_birch/segnetvit.499.pth'
resume_path: null
n_class: 193
eval_max_keypoints: 1024
localization:
loc_scene_name: [ 'apt1/kitchen' ]
save_path: '/scratches/flyer_2/fx221/exp/localizer/loc_results'
seg_k: 20
threshold: 8
min_kpts: 128
min_matches: 4
min_inliers: 64
matching_method_: "mnn"
matching_method_1: "spg"
matching_method_2: "gm"
matching_method: "gml"
matching_method_5: "adagml"
save: false
show: true
show_time: 1
max_vrf: 1
with_original: true
with_extra: false
with_compress: true
semantic_matching: true
do_refinement: true
refinement_method_: 'matching'
refinement_method: 'projection'
pre_filtering_th: 0.95
covisibility_frame: 20
refinement_radius: 20
refinement_nn_ratio: 0.9
refinement_max_matches: 0
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