runner:
  general:
    seed: 0
    device: cuda
    cuda_visible_devices: "0,1,2,3,4,5,6,7"
    
  experiment:
    name: ab_global_only
    root_dir: "experiments"
    epoch: 200 # -1 stands for last epoch

  test:
    dataset_list:
      - OmniObject3d_test

  blender_script_path: "/media/hofee/data/project/python/nbv_reconstruction/blender/data_renderer.py"
  output_dir: "/media/hofee/data/project/exp/new_no_cluster_ab_global_only"
  pipeline: nbv_reconstruction_pipeline_global_only
  voxel_size: 0.003
  min_new_area: 1.0
  overlap_limit: True
  enable_cluster: False

dataset:
  OmniObject3d_test:
    root_dir: "/media/hofee/repository/final_test_set/preprocessed_dataset"
    model_dir: "/media/hofee/data/data/target/target_formulated_view"
    source: seq_reconstruction_dataset_preprocessed
    type: test
    filter_degree: 75
    eval_list:
      - pose_diff
      - coverage_rate_increase
    ratio: 0.1
    batch_size: 1
    num_workers: 12
    pts_num: 8192
    load_from_preprocess: True

pipeline:
  nbv_reconstruction_pipeline_local:
    modules:
      pts_encoder: pointnet++_encoder
      seq_encoder: transformer_seq_encoder
      pose_encoder: pose_encoder
      view_finder: gf_view_finder
    eps: 1e-5
    global_scanned_feat: True
  nbv_reconstruction_pipeline_global:
    modules:
      pts_encoder: pointnet++_encoder
      seq_encoder: transformer_seq_encoder
      pose_encoder: pose_encoder
      view_finder: gf_view_finder
    eps: 1e-5
    global_scanned_feat: True
  nbv_reconstruction_pipeline_local_only:
    modules:
      pts_encoder: pointnet++_encoder
      seq_encoder: transformer_seq_encoder
      pose_encoder: pose_encoder
      view_finder: gf_view_finder
    eps: 1e-5
    global_scanned_feat: True
  nbv_reconstruction_pipeline_global_only:
    modules:
      pts_encoder: pointnet++_encoder
      seq_encoder: transformer_seq_encoder
      pose_encoder: pose_encoder
      view_finder: gf_view_finder
    eps: 1e-5
    global_scanned_feat: True
  nbv_reconstruction_pipeline_mlp:
    modules:
      pts_encoder: pointnet++_encoder
      seq_encoder: transformer_seq_encoder
      pose_encoder: pose_encoder
      view_finder: mlp_view_finder
    eps: 1e-5
    global_scanned_feat: True

    
module:

  pointnet_encoder:
    in_dim: 3
    out_dim: 1024
    global_feat: True
    feature_transform: False

  pointnet++_encoder:
    in_dim: 3

  transformer_seq_encoder:
    embed_dim: 256
    num_heads: 4
    ffn_dim: 256
    num_layers: 3
    output_dim: 1024

  gf_view_finder:
    t_feat_dim: 128
    pose_feat_dim: 256
    main_feat_dim: 1024
    regression_head: Rx_Ry_and_T
    pose_mode: rot_matrix
    per_point_feature: False
    sample_mode: ode
    sampling_steps: 500
    sde_mode: ve

  pose_encoder:
    pose_dim: 9
    out_dim: 256

  pts_num_encoder:
    out_dim: 64