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hloc.yaml
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hloc.yaml
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server:
host: "0.0.0.0"
port: 5000
location:
place: New_York_City
building: LightHouse
floor: "6_floor"
scale: 0.01098358101
IO_root: "/mnt/data/UNav-IO"
devices: "cuda:0"
hloc:
retrieval_num: 50
implicit_num: 1
ransac_thre: 30
# match_type: 'nvs'
match_type: "lightglue"
batch_mode: true
load_all_maps: true
map_loading_keyframes_reload: 0
feature:
global:
netvlad:
ckpt_path: "parameters/paper"
arch: "vgg16"
vladv2: true
nocuda: false
num_clusters: 64
pooling: "netvlad"
local:
superpoint+lightglue:
detector_name: superpoint
nms_radius: 4
max_keypoints: 4096
matcher_name: lightglue
match_conf:
width_confidence: -1
depth_confidence: -1