low_memory.yaml

dense_features:
    sparse : true
    dtype : "half"
    use_cache: true
    overwrite_cache: true
    load_cache_on_init: false
    patch_size: 8
    cache_format: "chunked"
interpolation:
    nodes: [[0.0,0.0]]
    mode: "BICUBIC"
mapping:
    dense_features: ${..dense_features}
    interpolation: ${..interpolation}
    KA:
        apply: true
        strategy: "topological_reference"
        split_in_subproblems: true
        max_kps_per_problem: 1000
        optimizer:
            num_threads: -1
            print_summary: false
            bound: 2.0  # tighter bound because smaller patches
            solver:
                parameter_tolerance: 1.0e-5
    BA:
        apply: true
        strategy: "costmaps"
        repeats: 1
        num_threads: -1
        level_indices: null
        max_tracks_per_problem: 100
        references:
            keep_observations: false
        costmaps:
            num_threads: -1
        optimizer:
            loss:
                name: "cauchy"
                params: [0.25]
            print_summary: false
            refine_focal_length: false
            refine_principal_point: false
            refine_extra_params: false
            refine_extrinsics: false
localization:
    dense_features: ${..dense_features}
    interpolation: ${..interpolation}