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MaverickPeter · Dec 2, 2020 · 5162799 · 5162799
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diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,2 @@
+*.ckpt
+
diff --git a/CMakeLists.txt b/CMakeLists.txt
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+cmake_minimum_required(VERSION 2.8.3)
+project(disco_ros)
+
+find_package(catkin REQUIRED COMPONENTS roscpp rospy message_generation std_msgs geometry_msgs sensor_msgs)
+
+add_message_files(
+  FILES
+  DiSCO.msg
+)
+
+#catkin_python_setup()
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  sensor_msgs
+  geometry_msgs
+)
+
+catkin_package(
+
+  CATKIN_DEPENDS message_runtime   
+)
+
+#install(PROGRAMS detect
+#        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
diff --git a/README.md b/README.md
@@ -1,2 +1,23 @@
-# DiSCO-pytorch
+# DiSCO-Pytorch
 Differentiable Scan Context with Orientation
+
+### Pre-Requisites
+* PyTorch 1.4.0
+* tensorboardX
+
+### Train
+```
+python train_DiSCO.py --dataset_folder $DATASET_FOLDER
+```
+
+### Evaluate
+```
+python evaluate.py --dataset_folder $DATASET_FOLDER
+```
+
+### Infer
+```
+python inference.py
+```
+
+Take a look at train_DiSCO.py and evaluate.py for more parameters
diff --git a/config.py b/config.py
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+# GLOBAL
+NUM_POINTS = 4096
+FEATURE_OUTPUT_DIM = 256
+RESULTS_FOLDER = "results/"
+OUTPUT_FILE = "results/results.txt"
+
+LOG_DIR = 'log2/'
+MODEL_FILENAME = "model.ckpt"
+
+DATASET_FOLDER = '../data1/xxc/benchmark_datasets/'
+
+# TRAIN
+BATCH_NUM_QUERIES = 1
+TRAIN_POSITIVES_PER_QUERY = 2
+TRAIN_NEGATIVES_PER_QUERY = 4
+DECAY_STEP = 200000
+DECAY_RATE = 0.7
+BASE_LEARNING_RATE = 0.0005
+MOMENTUM = 0.9
+OPTIMIZER = 'ADAM'
+MAX_EPOCH = 20
+
+MARGIN_1 = 0.5
+MARGIN_2 = 0.2
+
+BN_INIT_DECAY = 0.5
+BN_DECAY_DECAY_RATE = 0.5
+BN_DECAY_CLIP = 0.99
+
+RESUME = False
+
+TRAIN_FILE = 'generating_queries/training_queries_baseline.pickle'
+TEST_FILE = 'generating_queries/test_queries_baseline.pickle'
+
+# LOSS
+LOSS_FUNCTION = 'quadruplet'
+LOSS_LAZY = True
+TRIPLET_USE_BEST_POSITIVES = False
+LOSS_IGNORE_ZERO_BATCH = False
+
+# EVAL6
+EVAL_BATCH_SIZE = 1
+EVAL_POSITIVES_PER_QUERY = 2
+EVAL_NEGATIVES_PER_QUERY = 4
+
+EVAL_DATABASE_FILE = '/home/xxc/data1/xxc/NCLT_kit/nclt_generating_queries/nclt_evaluation_database_sc_density.pickle'
+EVAL_QUERY_FILE = '/home/xxc/data1/xxc/NCLT_kit/nclt_generating_queries/nclt_evaluation_query_sc_density.pickle'
+
+
+def cfg_str():
+    out_string = ""
+    for name in globals():
+        if not name.startswith("__") and not name.__contains__("cfg_str"):
+            #print(name, "=", globals()[name])
+            out_string = out_string + "cfg." + name + \
+                "=" + str(globals()[name]) + "\n"
+    return out_string