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default.yaml
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default.yaml
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---
##############################
# global config
cfg_type: "triangulation"
weight_path: "~/.limap/models"
load_meta: False
load_det: False
load_match: False
load_undistort: False
use_tmp: False
n_visible_views: 4
n_neighbors: 20
use_cuda: True
visualize: True
max_image_dim: 1600
skip_exists: False
output_dir: null
output_folder: "finaltracks"
load_dir: null
n_jobs: -1 # for undistortion
undistortion_output_dir: "undistorted_images"
##############################
# sfm config
sfm:
colmap_output_path: "colmap_outputs"
reuse: False
min_triangulation_angle: 1.0
neighbor_type: "dice" # ["overlap", "iou", "dice"]
ranges:
range_robust: [0.05, 0.95]
k_stretch: 1.25
hloc:
descriptor: "superpoint_aachen"
matcher: "NN-superpoint"
##############################
# line detection and matching config
line2d:
max_num_2d_segs: 3000
do_merge_lines: False
visualize: True
save_l3dpp: False
compute_descinfo: False
detector:
method: "deeplsd" # ["lsd", "sold2", "hawpv3", "tp_lsd", "deeplsd"]
skip_exists: False
extractor:
method: "wireframe" # ["sold2", "lbd", "l2d2", "linetr", "superpoint_endpoints", "wireframe"]
skip_exists: False
matcher:
method: "gluestick" # ["sold2", "lbd", "l2d2", "linetr", "nn_endpoints", "superglue_endpoints", "gluestick"]
n_jobs: 1
topk: 10
skip_exists: False
superglue:
weights: "outdoor" # ["indoor", "outdoor"] for selecting superglue models
var2d: # in pixels
sold2: 5.0
lsd: 2.0
hawpv3: 5.0
tp_lsd: 5.0
deeplsd: 4.0
##############################
# triangulation config
triangulation:
use_exhaustive_matcher: False
use_endpoints_triangulation: False
add_halfpix: false
min_length_2d: 0.0 # in pixels
var2d: -1.0 # depending on the detector
line_tri_angle_threshold: 1.0
IoU_threshold: 0.1
sensitivity_threshold: 70.0
fullscore_th: 1.0
max_valid_conns: 1000
min_num_outer_edges: 0
merging_strategy: "greedy"
num_outliers_aggregator: 2
debug_mode: False
linker2d_config:
score_th: 0.5
th_angle: 5.0
th_perp: 2.0 # in pixels
th_overlap: 0.05
linker3d_config:
score_th: 0.5
th_angle: 10.0
th_overlap: 0.05
th_smartoverlap: 0.1
th_smartangle: 2.0
th_perp: 1.0
th_innerseg: 1.0
th_scaleinv: 0.015
remerging:
disable: False
linker3d:
score_th: 0.5
th_angle: 5.0
th_overlap: 0.001
th_smartoverlap: 0.1
th_smartangle: 1.0
th_perp: 1.0
th_innerseg: 1.0
filtering2d:
th_angular_2d: 8.0
th_perp_2d: 5.0 # in pixels
th_sv_angular_3d: 75.0 # for sensitivity
th_sv_num_supports: 3
th_overlap: 0.5
th_overlap_num_supports: 3
use_vp: False
vpdet_config:
method: "jlinkage"
n_jobs: 8
min_length: 40
inlier_threshold: 1.0
min_num_supports: 10
use_pointsfm:
enable: false
colmap_folder: null
reuse_sfminfos_colmap: true
use_triangulated_points: true
use_neighbors: true
disable_many_points_triangulation: false
disable_one_point_triangulation: false
disable_algebraic_triangulation: false
disable_vp_triangulation: false
##############################
# geometric refinement config
refinement:
disable: False
constant_intrinsics: True
constant_principal_point: True
constant_pose: True
constant_line: False
min_num_images: 4
num_outliers_aggregator: 2
use_geometric: True
geometric_alpha: 10.0
use_vp: False
vp_multiplier: 0.1
use_heatmap: False
use_feature: False
##############################
# structures config
structures:
bpt2d:
threshold_keypoints: 2.0
threshold_intersection: 2.0
threshold_merge_junctions: 2.0