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

  pipeline: nbv_reconstruction_pipeline
  voxel_size: 0.003

pipeline:
  nbv_reconstruction_pipeline:
    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

module:
  pointnet_encoder:
    in_dim: 3
    out_dim: 1024
    global_feat: True
    feature_transform: False
  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: 2048
    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