buffer: 1024
# weight for translation / rotation components of flow
beta: 0.3
# how much motion before considering new keyframe
filter_thresh: 2.4
# number of warmup frames
warmup: 8
# threshold to create a new keyframe
keyframe_thresh: 4.0
# add edges between frames whithin this distance
frontend_thresh: 16.0
# frontend optimization window
frontend_window: 25
# force edges between frames within radius
frontend_radius: 2
# non-maximal supression of edges
frontend_nms: 1
# Whether to initialize sequentially
seq_init: true
# Keyframe ids for running backends
frontend_backend_iters: [16, 64, 256]
backend_thresh: 22.0
backend_radius: 2
backend_nms: 3
backend_iters: 24
# Initial values for disparity
init_disp: 1.0
# Whether to optimize intrinsics
optimize_intrinsics: ???
# Whether to optimize rig
optimize_rig_rotation: false
# Whether add reproj factors for cross-views
cross_view: true
cross_view_idx: null  # null means default
adaptive_cross_view: false  # Backend only, recompute cross_view_idx
# Chunk size of the infill
infill_chunk_size: 16
# Whether or not to infill dense disparity
infill_dense_disp: False
# Filter threshold for SLAM map (percentage of the mean depth difference allowed)
# (This is also used for dense disp extraction)
map_filter_thresh: 0.05
# Whether to visualize the results using rerun
visualize: false
# Use keyframe depth for recovering metric depth
keyframe_depth: metric3d-small

ba:
  dense_disp_alpha: 0.001
  intrinsics_damping_scale: 1.0

sparse_tracks:
  name: dummy