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photometric.yaml
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photometric.yaml
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dense_features:
model:
name: "image"
grayscale: false
l2_normalize: false
sparse : false
max_edge : 1600
device : "cpu"
dtype : "half"
interpolation:
nodes: [[-1.5, -1.5], [-1.5, -0.5], [-1.5, 0.5], [-1.5, 1.5], [-0.5, -1.5], [-0.5, -0.5], [-0.5, 0.5], [-0.5, 1.5], [0.5, -1.5], [0.5, -0.5], [0.5, 0.5], [0.5, 1.5], [1.5, -1.5], [1.5, -0.5], [1.5, 0.5], [1.5, 1.5]] #default: take pointwise nodes.
mode: "BICUBIC"
l2_normalize: false
ncc_normalize: true #only makes sense if n_nodes > 1
mapping:
interpolation: ${..interpolation}
dense_features: ${..dense_features}
KA:
apply: false
BA:
apply: true
strategy: "patch_warp"
num_threads: -1 # <1 equals to all threads
max_tracks_per_problem: 10
references:
loss:
name: "cauchy"
params: [0.25]
optimizer:
loss:
name: "cauchy"
params: [0.25]
solver:
max_num_iterations: 30
print_summary: false
refine_focal_length: false
refine_principal_point: false
refine_extra_params: false
refine_extrinsics: false