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MinkLoc3D configs added
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jac99 committed Jan 31, 2024
1 parent 9f3a43a commit 1771e73
Showing 6 changed files with 63 additions and 1 deletion.
22 changes: 22 additions & 0 deletions config/config_baseline_v1.txt
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# MinkLoc3D training config using Baseline dataset
[DEFAULT]
dataset_folder = /data3/pointnetvlad/benchmark_datasets

[TRAIN]
num_workers = 4
batch_size = 16
batch_size_limit = 256
batch_expansion_rate = 1.4
batch_expansion_th = 0.7

lr = 1e-3
epochs = 40
scheduler_milestones = 30
aug_mode = 1
weight_decay = 1e-3

loss = BatchHardTripletMarginLoss
margin = 0.2

train_file = training_queries_baseline2.pickle
val_file = test_queries_baseline2.pickle
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# MinkLoc3Dv2 training config using Baseline dataset
[DEFAULT]
dataset_folder = /data3/pointnetvlad/benchmark_datasets

22 changes: 22 additions & 0 deletions config/config_refined_v1.txt
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# MinkLoc3Dv2 training config using Refined dataset
[DEFAULT]
dataset_folder = /data3/pointnetvlad/benchmark_datasets

[TRAIN]
num_workers = 4
batch_size = 16
batch_size_limit = 256
batch_expansion_rate = 1.4
batch_expansion_th = 0.7

lr = 1e-3
epochs = 80
scheduler_milestones = 60
aug_mode = 1
weight_decay = 1e-3

loss = BatchHardTripletMarginLoss
margin = 0.2

train_file = training_queries_refine2.pickle
val_file = test_queries_baseline2.pickle
2 changes: 2 additions & 0 deletions config/config_refined.txt → config/config_refined_v2.txt
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# MinkLoc3Dv2 training config using Refined dataset
[DEFAULT]
dataset_folder = /data3/pointnetvlad/benchmark_datasets

@@ -12,6 +13,7 @@ epochs = 500
scheduler_milestones = 350, 450
aug_mode = 1
weight_decay = 1e-4

loss = TruncatedSmoothAP
tau1 = 0.01
positives_per_query = 4
15 changes: 15 additions & 0 deletions models/minkloc3d.txt
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# MinkLoc3D model definition
[MODEL]
model=MinkLoc
planes = 32,64,64
layers = 1,1,1
num_top_down=1
conv0_kernel_size=5
feature_size=256
block=BasicBlock
pooling=GeM

coordinates=cartesian
quantization_step=0.01

normalize_embeddings=False
2 changes: 1 addition & 1 deletion models/minkloc3dv2.txt
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# MinkLoc3Dv2 model definition
[MODEL]
model=MinkLoc
planes=64,128,64,32
@@ -12,4 +13,3 @@ coordinates=cartesian
quantization_step=0.01

normalize_embeddings=False

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