dsift.yaml

dense_features:
    model:
        name: "dsift"
        rootsift: true
        spatial_bin_size: 4
    sparse : true
    use_cache: false
    max_edge : 2000
    patch_size : 16
    device: cuda
    dtype: half
mapping:
    dense_features: ${..dense_features}
    KA:
        apply: true
        strategy: "featuremetric"
        level_indices: null
        max_kps_per_problem: 50
        optimizer:
            print_summary: false
            bound: 4.0
    BA:
        apply: true
        strategy: "feature_reference"
        repeats: 1
        level_indices: null
        optimizer:
            solver:
                max_num_iterations: 10
            print_summary: false
            refine_focal_length: false
            refine_extra_params: false
            refine_extrinsics: false
localization:
    dense_features: ${..dense_features}
    target_reference: "nearest"
    unique_inliers: "min_error"
    overwrite_features_sparse: False
    QKA:
        apply: true
        level_indices: null
        feature_inlier_thresh: -1
        optimizer:
            print_summary: false
    QBA:
        apply: true
        level_indices: null
        optimizer:
            print_summary: false
            refine_focal_length: false
            refine_extra_params: false