forked from merlinwu/end_to_end_visual_odometry
-
Notifications
You must be signed in to change notification settings - Fork 0
/
config.py
134 lines (103 loc) · 2.39 KB
/
config.py
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
import tools
save_path = "/home/cs4li/Dev/end_to_end_visual_odometry/results"
dataset_path = "/home/cs4li/Dev/KITTI/dataset/"
class Configs(object):
timesteps = 0
batch_size = 0
input_width = 0
input_height = 0
input_channels = 0
class SeqTrainConfigs(Configs):
timesteps = 8
batch_size = 4
input_width = 1280
input_height = 384
input_channels = 3
lstm_size = 256
lstm_layers = 2
sequence_stride = 8
num_epochs = 100
k_fc = 50
k_se3 = 500
class SeqTrainConfigsSmallSteps(Configs):
timesteps = 8
batch_size = 6
input_width = 1280
input_height = 384
input_channels = 3
bidir_aug = True
lstm_size = 256
lstm_layers = 2
sequence_stride = 8
num_epochs = 200
k_fc = 50
k_se3 = 500
class SeqTrainLidarConfig(Configs):
timesteps = 10
batch_size = 4
input_width = 1152
input_height = 64
input_channels = 2
bidir_aug = True
data_type = "lidar"
lstm_size = 256
lstm_layers = 1
sequence_stride = 10
num_epochs = 200
k_fc = 50
k_se3 = 500
class SeqEvalLidarConfig(Configs):
timesteps = 1
batch_size = 1
input_width = 1152
input_height = 64
input_channels = 2
bidir_aug = False
data_type = "lidar"
lstm_size = 256
lstm_layers = 1
sequence_stride = 1
num_epochs = 200
k_fc = 50
k_se3 = 500
class SeqTrainConfigsSmallStepsValidation(Configs):
timesteps = 1
batch_size = 40
input_width = 1280
input_height = 384
input_channels = 3
bidir_aug = False
lstm_size = 256
lstm_layers = 1
sequence_stride = 1
num_epochs = 100
k_fc = 50
k_se3 = 500
class PairTrainConfigs(Configs):
timesteps = 1
batch_size = 28
input_width = 1280
input_height = 384
input_channels = 3
num_epochs = 75
k = 100
class SeqCamEvalConfig(Configs):
timesteps = 1
batch_size = 1
input_width = 1280
input_height = 384
input_channels = 3
sequence_stride = 1
bidir_aug = False
lstm_size = 256
lstm_layers = 2
class PairCamEvalConfig(Configs):
timesteps = 1
batch_size = 1
input_width = 1280
input_height = 384
input_channels = 3
def print_configs(cfg):
for attr in dir(cfg):
if not callable(getattr(cfg, attr)) and not attr.startswith("__"):
tools.printf("%s: %s" % (attr, getattr(cfg, attr)))