config.yaml

running:
  window_size: 2

data_loader:
  terrain: false
  detection: false
  obj_type: 1

finder:
  optim:
    method: BFGS
    ITER: 50
    options:
      maxiter: 50
      disp: false
  neighbor_num: 1
  box_scaling_prev: 1.0
  box_scaling_next: 3.0
  agg_subshape: false
  least_pc: 10
  pc_limit: 1000
  loss_type: L2
  ransac: 
    switch: false

optim:
  method: BFGS
  iter: 20
  options:
    maxiter: 50
    disp: false

motion_model:
  moving_avg_weight: 0.5

shape_map:
  update_freq: 5
  subshape_len: 2
  box_scaling_pc_bank: 1.0
  downsample: true
  resolution: 0.05

factors:
  switch:
    motion_prior: true
    icp_loss: true
    shape_loss: true
    motion_consistency: true
    latitude: false
    detection: false
  names:
    - latitude
    - icp_loss
    - shape_loss
    - motion_prior
    - motion_consistency
    - detection
  latitude:
    scaling: 1.0
  icp_loss:
    neighbor_num: 1
    least_pc: 10
    pc_limit: 1000
    box_scaling_prev: 1.1
    box_scaling_next: 1.5
    agg_subshape: true
    loss_type: L2
  shape_loss:
    neighbor_num: 1
    least_pc: 10
    pc_limit: 1000
    box_scaling_next: 1.5
    loss_type: L2
    ransac:
      switch: true
      num_iter: 200
      threshold: 0.2
      ransac_limit: 10 
  motion_prior: ~
  motion_consistency: ~
  detection:
    score_threshold: 0.5
    iou_threshold: 0.1

weight:
  icp: 1.0
  latitude: 0.0
  motion_prior: 0.1
  shape_loss: 1.0
  motion_consistency: 0.1
  detection: 0.0