opt_baseline.yaml

---
### For running in non-cvo mode. 
# system setup
model_name: "mono_model_KITTI_Lidar"
log_frequency: 100
cuda_n: 0
save_pic_intv: 0
save_pcd_intv: 0
server: "sunny"
disable_log: false

# training setup
batch_size: 4 # 2
iters_per_update: 2 # 4
scheduler_step_size: 10
num_layers: 50
num_workers: 8

# depth meta setup
depth_in_loss: false
disp_in_loss: true
min_depth: 2.0
# ref_depth: 10
# depth_ref_mode: true
disparity_smoothness: 0.01

# cvo meta setup
cvo_loss: false
cvo_loss_dense: false
dense_flat_grid: false
supervised_by_gt_depth: false
# cvo_loss: true
# cvo_loss_dense: true
# dense_flat_grid: true
# supervised_by_gt_depth: true

# cvo params
use_normal_v3: false
norm_in_dist: false
neighbor_range: 2
normal_nrange: 9
ell_basedist: 10.0
random_ell: true
ell_geo: 0.1
ell_min: 0.05

# dataset setup
dataset: 
    - kitti
dataset_val: 
    - kitti
split_train:
    - eigen_zhou
split_val:
    - eigen_zhou
load_weights_folder: