# Train config file

settings:
  general:
    seed: 0
    cuda_visible_devices: "0,1,2,3,4,5,6,7"
    device: cuda
    test_dir: ""
    print: True
    parallel: True

  experiment:
    name: test_inference
    root_dir: "experiments"
    model_path: "/media/hofee/data/weights/nbv_grasping/241204_centralized_ood.pth"
    use_cache: True
    small_batch_overfit: False
    
  test:
    batch_size: 96
    dataset_list:
      - name: synthetic_test_sample
        source: nbv1
        data_type: sample
        synthetic: True
        ratio: 1.0
        batch_size: 96
        num_workers: 8

  results:
    save_data_keys: ["target_name","src_rot_mat"]
    save_output_keys: ["in_process_sample"]

  pipeline: # module_type: name
    pts_encoder: pointnet
    view_finder: gradient_field

datasets:
  general:
    data_dir: "/mnt/d/Datasets"
    score_limit: 0.3
    target_pts_num: 1024
    scene_pts_num: 16384
    canonical: False
    rgb_feat_cache: True
    

modules:
  general:
    pts_channels: 3
    feature_dim: 1024
    per_point_feature: False
  pts_encoder:
    pointnet:
    pointnet++:
      params_name: light
  view_finder:
    gradient_field:
      pose_mode: rot_matrix
      regression_head: Rx_Ry
      sample_mode: ode
      sample_repeat: 50
      sampling_steps: 500
      sde_mode: ve
  rgb_encoder:
    dinov2:
