2611a72aa2
Root cause: 3D RoPE precomputed for max_frame_num+100=1124 positions. GX019817 has 1357 frames after trim → index overflow → tensor mismatch. 2048 → supports up to 2148 frames (covers all current segments). Co-Authored-By: Poulpe <claude@nowyouknow.fr>
33 lines
649 B
YAML
33 lines
649 B
YAML
usbl:
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min_points_per_segment: 5
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max_gap_seconds: 30
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mad_sigma: 3.0
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moving_avg_window: 5
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ingest:
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min_video_seconds: 120
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max_timestamp_delta_seconds: 60
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frame_extract:
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fps: 1
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width: 518
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height: 294
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underwater_r_minus_g: 5
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trim_min_frames: 8
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bottom_visible_pct_min: 25
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inference:
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ply_conf_threshold: 1.5
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max_frame_num: 2048
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mode: streaming
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keyframe_interval: 1
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min_frames_for_inference: 32
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inference_timeout_s: 10800
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offload_to_cpu: false
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align:
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max_translation_m: 500
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min_inlier_ratio: 0.3
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stitch:
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voxel_size: 0.05
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icp_max_distance: 0.5
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icp_iterations: 50
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use_ransac: true
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ransac_iterations: 100000
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