configs/default.toml

[project]
name = "anima-slam-gs3lam"
codename = "SLAM-GS3LAM"
functional_name = "Gaussian Semantic Splatting SLAM"
wave = 7
paper_arxiv = "2603.27781"
python_version = "3.11"

[compute]
backend = "auto"  # "mlx", "cuda", "auto"
precision = "fp32"
prefer_mlx_on_mac = true
prefer_cuda_on_linux = true

[data]
shared_volume = "/mnt/forge-data"
repos_volume = "/mnt/forge-data/repos"
dataset_root_rel = "datasets/slam/gs3lam"
model_root_rel = "models/slam/gs3lam"

[paper_defaults]
replica_tracking_iterations = 40
replica_mapping_iterations = 60
scannet_tracking_iterations = 100
scannet_mapping_iterations = 30
tum_tracking_iterations = 360
tum_mapping_iterations = 150
tracking_rotation_lr = 0.0004
tracking_translation_lr = 0.002

[repo_overrides.scannet]
tracking_iterations = 200
mapping_iterations = 60

[dataset_presets.replica]
name = "replica"
sequence = "office0"
root = "/mnt/forge-data/datasets/slam/gs3lam/Replica"
desired_image_height = 680
desired_image_width = 1200

[dataset_presets.replica.camera]
image_height = 680
image_width = 1200
fx = 600.0
fy = 600.0
cx = 599.5
cy = 339.5
png_depth_scale = 6553.5
crop_edge = 0

[dataset_presets.scannet]
name = "scannet"
sequence = "scene0059_00"
root = "/mnt/forge-data/datasets/slam/gs3lam/scannet"
desired_image_height = 480
desired_image_width = 640

[dataset_presets.scannet.camera]
image_height = 968
image_width = 1296
fx = 1169.621094
fy = 1167.105103
cx = 646.295044
cy = 489.927032
png_depth_scale = 1000.0
crop_edge = 0

[dataset_presets.tum]
name = "tum"
sequence = "rgbd_dataset_freiburg1_desk"
root = "/mnt/forge-data/datasets/tum"
desired_image_height = 480
desired_image_width = 640

[dataset_presets.tum.camera]
image_height = 480
image_width = 640
fx = 517.3
fy = 516.5
cx = 318.6
cy = 255.3
png_depth_scale = 5000.0
crop_edge = 8