Weights:
  DA3: './weights/model.safetensors'
  DA3_CONFIG: './weights/config.json'
  SALAD: './weights/dino_salad.ckpt'

Model:
  chunk_size: 120
  overlap: 60
  loop_chunk_size: 20 # imgs of loop chunk = 2 * loop_chunk_size
  loop_enable: True
  useDBoW: False
  delete_temp_files: True
  align_lib: 'triton' # choose among 'triton' (GPU), 'torch' (GPU), 'numba' (CPU) or 'numpy' (CPU)
  align_method: 'sim3' # choose among 'sim3', 'se3' or 'scale+se3'
  scale_compute_method: 'auto' # choose among 'auto', 'ransac' or 'weighted'. It is used when align_method == 'scale+se3'
  align_type: 'dense' # choose between 'dense' or 'sparse'. Sparse align is constructing, not avaible for now

  ref_view_strategy: 'saddle_balanced' # 'middle', 'saddle_balanced', 'first' or 'saddle_sim_range'
  ref_view_strategy_loop: 'saddle_balanced' # 'middle', 'saddle_balanced', 'first' or 'saddle_sim_range'
  depth_threshold: 15.0

  save_depth_conf_result: True
  save_debug_info: False

  Sparse_Align:
    keypoint_select: 'orb' # choose among 'orb', 'fast' or 'disk'
    keypoint_num: 5000

  IRLS:
    delta: 0.1
    max_iters: 5
    tol: 1e-9

  Pointcloud_Save:
    sample_ratio: 0.015
    conf_threshold_coef: 0.75 # conf_threshold = np.mean(confs) * conf_threshold_coef

Loop:
  SALAD:
    image_size: [336, 336]
    batch_size: 32
    similarity_threshold: 0.85
    top_k: 5
    use_nms: True
    nms_threshold: 25

  SIM3_Optimizer:
    lang_version: 'cpp'
    # choose between 'cpp' or 'python'. will auto set 'python' if c++ version has not installed
    max_iterations: 30
    lambda_init: 1e-6
