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config.ini
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config.ini
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; config.ini
; N.B.: use ';' for commenting a line!
; core libs are automatically imported by using:
; import config
[CORE_LIB_PATHS]
g2o=thirdparty/g2opy/lib
pangolin=thirdparty/pangolin
orb_features=thirdparty/orbslam2_features/lib
pyslam_utils=cpp/utils/lib
; considering the folders in thirdparty as modules
thirdparty=thirdparty
; the following libs are explicitely imported on demand by using, for instance:
; import config \ config.cfg.set_lib('tfeat')
[LIB_PATHS]
superpoint=thirdparty/superpoint
hardnet=thirdparty/hardnet
tfeat=thirdparty/tfeat
geodesc=thirdparty/geodesc
sosnet=thirdparty/SOSNet/codes
l2net=thirdparty/l2net
l2net_keras=thirdparty/l2net_keras/src
logpolar=thirdparty/logpolar
d2net=thirdparty/d2net
delf=thirdparty/tensorflow_models/research/delf,thirdparty/tensorflow_models/research/slim,thirdparty/tensorflow_models/research/
contextdesc=thirdparty/contextdesc
lfnet=thirdparty/lfnet
r2d2=thirdparty/r2d2
keynet=thirdparty/keynet
[DATASET]
; select your dataset (decomment only one of the following lines!)
;type=KITTI_DATASET
;type=TUM_DATASET
type=VIDEO_DATASET
;type=FOLDER_DATASET
;type=LIVE_DATASET
[KITTI_DATASET]
type=kitti
base_path=/home/luigi/Work/rgbd_datasets2/kitti_color/dataset
;
;name=00
;cam_settings=settings/KITTI00-02.yaml
;
name=06
cam_settings=settings/KITTI04-12.yaml
;
; do you have the color images for the kitti dataset? (image2 and image3 folders)
is_color=True
;
groundtruth_file=auto
[TUM_DATASET]
type=tum
base_path=/home/luigi/Work/rgbd_datasets
name=rgbd_dataset_freiburg1_xyz
cam_settings=settings/TUM1.yaml
associations=associations.txt
groundtruth_file=auto
[VIDEO_DATASET]
type=video
;
;base_path=./videos/kitti00
;cam_settings=settings/KITTI00-02.yaml
;name=video.mp4
;
base_path=./videos/kitti06
cam_settings=settings/KITTI04-12.yaml
name=video_color.mp4
;
;base_path=./videos/webcam
;cam_settings=settings/WEBCAM.yaml
;name=video.mp4
;
groundtruth_file=groundtruth.txt
[FOLDER_DATASET]
type=folder
base_path=/home/luigi/Work/rgbd_datasets2/kitti/dataset/sequences/00/image_0/
; name is used for specifying a glob pattern, e.g. *png, *jpeg, etc...
name=*png
cam_settings=settings/KITTI00-02.yaml
groundtruth_file=groundtruth.txt
fps=20
; DO NOT USE [LIVE_DATASET]! This is here since it may be useful in the future.
; At the present time (see the README file):
; - main_vo.py cannot be used with your webcam since it requires a grountruth for recovering a correct inter-frame scale (see the README file)
; - main_slam.py does NOT have REAL-TIME processing capabilities!
; If you want to use your webcam, please, record a video by using calibration/save_video.py and then use it as a VIDEO_DATASET
[LIVE_DATASET]
type=live
base_path=
name=/dev/video2
cam_settings=settings/WEBCAM.yaml
groundtruth_file=auto