replica_naradio.yaml

defaults:
  - default
  - override dataset: niceslam_replica # Make sure to include semseg_info
  - override encoder: naradio
  - override mapping: semantic_voxel_map
  - override vis: rerun # Set to null to disable vis
  - _self_

# Choose any suitable folder for saving the results
eval_out: eval_out/naradio

load_external_gt: True
prediction_thresh: 0.1 # Threshold after which a prediction is made.
prompt_denoising_thresh: 0.5 # Confidence threshold below which the target class prompt is removed
k: 5 # K nearest neighbor value for aligning voxels. Set to 0 to impose a 1-to-1 mapping (0 distance)

# For running the script on multiple scenes at the same time.
hydra:
  sweeper:
    params:
      dataset.scene_name: office0,office1,office2,office3,office4,room0,room1,room2

dataset:
  path: ??? # NICE SLAM REPLICA
  scene_name: office0
  rgb_resolution: [480, 640]
  depth_resolution: [480, 640]
  frame_skip: 10

encoder:
  model_version: radio_v2.5-l
  lang_model: siglip

mapping:
  vox_size: 0.05 #5cm voxels
  vox_accum_period: 4
  max_pts_per_frame: -1

querying:
  text_query_mode: labels

# Comment out to include background classes.
classes_to_ignore: ["wall", "floor", "ceiling", "door", "window", "background"]