dataset: 'tumrgbd'
grid_len:
  coarse: 2 
  middle: 0.16
  fine: 0.08
  color: 0.08
  bound_divisible: 0.32
tracking:
  vis_freq: 50
  vis_inside_freq: 25
  ignore_edge_W: 20
  ignore_edge_H: 20
  seperate_LR: True
  const_speed_assumption: True
  gt_camera: False
  lr: 0.01     
  pixels: 5000
  iters: 200
mapping:
  every_frame: 1
  vis_freq: 50
  vis_inside_freq: 25
  mesh_freq: 50
  ckpt_freq: 500
  keyframe_every: 50
  mapping_window_size: 10
  pixels: 5000
  iters_first: 1500
  iters: 60

cam:  #NOTE: intrinsic is different per scene in TUM
  H: 480 
  W: 640 
  fx: 517.3
  fy: 516.5
  cx: 318.6
  cy: 255.3
  png_depth_scale: 5000.0
  crop_edge: 0