--mode train
--model_name TRIDE
--main_path ../
--train_text_feature_general_path ../training/nuscenes/nuscenes_train_text_feature_general.txt
--train_text_feature_left_path ../training/nuscenes/nuscenes_train_text_feature_left.txt
--train_text_feature_mid_left_path ../training/nuscenes/nuscenes_train_text_feature_mid_left.txt
--train_text_feature_mid_right_path ../training/nuscenes/nuscenes_train_text_feature_mid_right.txt
--train_text_feature_right_path ../training/nuscenes/nuscenes_train_text_feature_right.txt
--train_weather_consition_path ../training/nuscenes/train_weather_conditions.txt
--train_ground_truth_path ../training/nuscenes/nuscenes_train_newCRFDepth_new.txt
--train_ground_truth_nointer_path ../training/nuscenes/nuscenes_train_ground_truth.txt
--train_lidar_path ../training/nuscenes/nuscenes_train_lidar.txt
--train_image_path ../training/nuscenes/nuscenes_train_image.txt
--train_radar_path ../training/nuscenes/nuscenes_train_radar_new.txt

--validation_image_path ../testing/nuscenes/nuscenes_test_image.txt
--validation_text_feature_general_path ../testing/nuscenes/nuscenes_test_text_feature_general.txt
--validation_text_feature_left_path ../testing/nuscenes/nuscenes_test_text_feature_left.txt
--validation_text_feature_mid_left_path ../testing/nuscenes/nuscenes_test_text_feature_mid_left.txt
--validation_text_feature_mid_right_path ../testing/nuscenes/nuscenes_test_text_feature_mid_right.txt
--validation_text_feature_right_path ../testing/nuscenes/nuscenes_test_text_feature_right.txt
--validation_weather_condition_path ../testing/nuscenes/test_weather_conditions.txt
--validation_ground_truth_path ../testing/nuscenes/nuscenes_test_lidar.txt
--validation_radar_path ../testing/nuscenes/nuscenes_test_radar_new.txt

--batch_size 10
--num_epochs 450
--encoder resnet34_bts
--learning_rate 1e-4
--weight_decay 1e-4
--reg_loss l1
--w_smoothness 0.001
--adam_eps 1e-2
--input_height 448
--input_width 800
--max_depth 100
--log_directory ./saved_models/
--log_freq 100
--do_online_eval
--eval_freq 2
--min_depth_eval 1e-3
--max_depth_eval 80
--eval_summary_directory ./saved_models/eval/
--num_threads 8
--text_fuse cross_attention
--text_encode_mode lstm_new
--text_hidden_dim 128
--fuse wafb
--use_img_feat
--point_hidden_dim 256
