third_party/SOLD2/sold2/config/export_line_features.yaml

### [Model config]
model_cfg:
  ### [Model parameters]
  model_name: "lcnn_simple"
  model_architecture: "simple"
  # Backbone related config
  backbone: "lcnn"
  backbone_cfg:
    input_channel: 1 # Use RGB images or grayscale images.
    depth: 4
    num_stacks: 2
    num_blocks: 1
    num_classes: 5
  # Junction decoder related config
  junction_decoder: "superpoint_decoder"
  junc_decoder_cfg:
  # Heatmap decoder related config
  heatmap_decoder: "pixel_shuffle"
  heatmap_decoder_cfg:
  # Descriptor decoder related config
  descriptor_decoder: "superpoint_descriptor"
  descriptor_decoder_cfg:
  # Shared configurations
  grid_size: 8
  keep_border_valid: True
  # Threshold of junction detection
  detection_thresh: 0.0153846 # 1/65
  max_num_junctions: 300
  # Threshold of heatmap detection
  prob_thresh: 0.5

  ### [Loss parameters]
  weighting_policy: "dynamic"
  # [Heatmap loss]
  w_heatmap: 0.
  w_heatmap_class: 1
  heatmap_loss_func: "cross_entropy"
  heatmap_loss_cfg:
    policy: "dynamic"
  # [Junction loss]
  w_junc: 0.
  junction_loss_func: "superpoint"
  junction_loss_cfg:
    policy: "dynamic"
  # [Descriptor loss]
  w_desc: 0.
  descriptor_loss_func: "regular_sampling"
  descriptor_loss_cfg:
    dist_threshold: 8
    grid_size: 4
    margin: 1
    policy: "dynamic"

### [Line detector config]
line_detector_cfg:
  detect_thresh: 0.5
  num_samples: 64
  sampling_method: "local_max"
  inlier_thresh: 0.99
  use_candidate_suppression: True
  nms_dist_tolerance: 3.
  use_heatmap_refinement: True
  heatmap_refine_cfg:
    mode: "local"
    ratio: 0.2
    valid_thresh: 0.001
    num_blocks: 20
    overlap_ratio: 0.5
  use_junction_refinement: True
  junction_refine_cfg:
    num_perturbs: 9
    perturb_interval: 0.25

### [Line matcher config]
line_matcher_cfg:
  cross_check: True
  num_samples: 5
  min_dist_pts: 8
  top_k_candidates: 10
  grid_size: 4