# LaMAR full-frame benchmark configuration
# Processes ALL frames from ALL ios folders per scene using MultiSequencePairs
# Inherits shared settings from base.yaml

_base_: "base.yaml"

# Pipeline options (flat keys — nested `pipeline:` blocks are ignored by run_benchmark.py)
intrinsics_mode: PER_CAMERA
is_sequential: true
is_multi_sequence: true
subfolder_regex: "^ios"  # regex to filter subfolders for multi-sequence
max_num_tracks: 4_000_000
use_ceres_rotation_averaging: true

# Dataset groups: one per LaMAR scene (CAB, HGE, LIN)
dataset_groups:
  - name: "LaMAR"
    images_pattern: "./datasets/lamar/{dataset}/map/"
    gt_pattern: "./datasets/lamar/{dataset}/sfm_empty"
    output_pattern: "results/lamar/{dataset}"

# Benchmark options
benchmark:
  datasets: null
  continue_on_error: true

# Evaluation settings for pose comparison
evaluation:
  match_by_basename: true
  pose_thresholds: [3, 5, 10, 30]