54 lines
1.5 KiB
YAML
54 lines
1.5 KiB
YAML
buffer: 1024
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# weight for translation / rotation components of flow
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beta: 0.3
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# how much motion before considering new keyframe
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filter_thresh: 2.4
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# number of warmup frames
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warmup: 8
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# threshold to create a new keyframe
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keyframe_thresh: 4.0
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# add edges between frames whithin this distance
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frontend_thresh: 16.0
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# frontend optimization window
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frontend_window: 25
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# force edges between frames within radius
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frontend_radius: 2
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# non-maximal supression of edges
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frontend_nms: 1
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# Whether to initialize sequentially
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seq_init: true
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# Keyframe ids for running backends
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frontend_backend_iters: [16, 64, 256]
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backend_thresh: 22.0
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backend_radius: 2
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backend_nms: 3
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backend_iters: 24
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# Initial values for disparity
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init_disp: 1.0
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# Whether to optimize intrinsics
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optimize_intrinsics: ???
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# Whether to optimize rig
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optimize_rig_rotation: false
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# Whether add reproj factors for cross-views
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cross_view: true
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cross_view_idx: null # null means default
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adaptive_cross_view: false # Backend only, recompute cross_view_idx
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# Chunk size of the infill
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infill_chunk_size: 16
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# Whether or not to infill dense disparity
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infill_dense_disp: False
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# Filter threshold for SLAM map (percentage of the mean depth difference allowed)
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# (This is also used for dense disp extraction)
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map_filter_thresh: 0.05
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# Whether to visualize the results using rerun
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visualize: false
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# Use keyframe depth for recovering metric depth
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keyframe_depth: metric3d-small
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ba:
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dense_disp_alpha: 0.001
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intrinsics_damping_scale: 1.0
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sparse_tracks:
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name: dummy
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