Exp1.yaml

device: "cuda:0"

paths:
  mast3r_config:      "./MASt3R-SLAM/config/base.yaml"
  model_weights:      "./MASt3R-SLAM/checkpoints/MASt3R_ViTLarge_BaseDecoder_512_catmlpdpt_metric.pth"
  retriever_weights:  "./MASt3R-SLAM/checkpoints/MASt3R_ViTLarge_BaseDecoder_512_catmlpdpt_metric_retrieval_trainingfree.pth"
  loop_vis_save_dir:  "./MASt3R-SLAM/retrieval_test/loop_closures"

image:
  height: 384
  width:  512

# noise values are 1-sigma:  information = 1 / sigma^2
# rotation unit: degrees,  translation unit: meters
graph:
  odometry:
    t_noise: [0.1, 0.1, 0.1]   # translation sigma (m)
    r_noise: [5.0, 5.0, 5.0]   # rotation sigma (deg)
    s_noise: 0.05               # scale sigma
  loop:
    t_noise: [1.0, 1.0, 1.0]
    r_noise: [25.0, 25.0, 25.0]
    s_noise: 1.0
  loop_inhibit_window:    5    # frames to suppress repeated loop edges between the same pair
  same_robot_min_seq_gap: 90   # minimum seq-index gap for same-robot loop closure

matching:
  retrieval_k:          3      # top-k candidates from image retrieval
  retrieval_min_thresh: 0.006  # minimum retrieval score to consider a candidate
  quality_threshold:    1.5    # Qk threshold for valid 3-D correspondences
  match_frac_min:       0.085   # minimum fraction of valid matches to attempt Sim3

point_cloud:
  local_voxel_size: 0.1   # voxel size for local map downsampling (m)
  pre_slice_rate:   5     # stride applied before voxel downsampling
  global_voxel_size: 0.3   # voxel size for global map rebuild after optimization (m)

anchor:
  scale_min: 0.5   # reject child anchor if scale < this
  scale_max: 4.0   # reject child anchor if scale > this

optimization:
  stage1_iters: 10
  stage2_iters: 50
  verbose:      0

vis:
  point_radii:      0.05
  trajectory_radii: 0.05