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from yacs.config import CfgNode as CN
_C = CN()
# max number of keyframes
_C.BUFFER_SIZE = 2048
# bias patch selection towards high gradient regions?
_C.GRADIENT_BIAS = True
# VO config (increase for better accuracy)
_C.PATCHES_PER_FRAME = 80
_C.REMOVAL_WINDOW = 20
_C.OPTIMIZATION_WINDOW = 12
_C.PATCH_LIFETIME = 12
# threshold for keyframe removal
_C.KEYFRAME_INDEX = 4
_C.KEYFRAME_THRESH = 12.5
# camera motion model
_C.MOTION_MODEL = 'DAMPED_LINEAR'
_C.MOTION_DAMPING = 0.5
_C.MIXED_PRECISION = True
cfg = _C