vlc_driver_config.yaml

camera_config:
    type: pinhole_camera
    fx: 415.69
    fy: 415.69
    cx: 360
    cy: 240
server_config:
    place_method:
      type: Salad
      embedding_size: 8448
      model_source: torchhub
      model_variant: serizba/salad
      weight_source: dinov2_salad
    keypoint_method:
      type: SuperPoint
      max_keypoints: 1024
    #descriptor_method: null
    match_method:
      type: Lightglue
      feature_type: superpoint
    pose_method:
      type: opengv
      scale_recovery: true
      use_pnp_for_scale: false
      ransac:
        inlier_tolerance: 1.0e-6
      scale_ransac:
        inlier_tolerance: 1.0e-1
    lc_frame_lockout_s: 10
    place_match_threshold: 0.55
    strict_keypoint_evaluation: false
    display_method:
        type: opencv
        display_place_matches: True
        save_place_matches: True
        save_separate_place_matches: True
        display_keypoint_matches: True
        save_keypoint_matches: True
        display_inlier_keypoint_matches: True
        save_inlier_keypoint_matches: True
        save_dir: output