dynamic-3D-reconstruction/config-example.toml at main · connorkeevill/dynamic-3D-reconstruction · GitHub

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[tsdf_options]
voxel_size = 0.01
num_buckets = 50000
bucket_size = 10
num_blocks = 500000
block_size = 8
max_sdf_weight = 64
truncation_distance = 0.1
max_sensor_depth = 5
min_sensor_depth = 0.1

[tracker_options]
max_iterations_per_level_0 = 6
max_iterations_per_level_1 = 3
max_iterations_per_level_2 = 2
downsample_0 = 4
downsample_1 = 2
downsample_2 = 1
min_increment = 0.0001
huber_constant = 0.02
regularization = 0.002
reconstruction_strategy = "optical_flow"  # Should be one of "residual", "optical_flow" or "static"
output_mask_video = true
output_flow_video = true

[sensor]
cx = 319.5
cy = 239.5
fx = 525.0
fy = 525.0
rows = 480
cols = 640
depth_factor = 5000

[logging]
verbose = true
debug = false
writeLogsToFile = false
filepath = ""

[input]
streamFrames = false

[output]
outputMesh = true
outputResults = true
outputTimings = true
outputReprojectedVideo = true