Configuration Each dataset has a YAML file in configs/. Main keys Key Meaning dataset c3vd, endoslam, endomapper, surgt data_root Usually data sequence Folder name under data/<dataset>/ run_id Output folder name output_root Usually outputs masking Key Default Meaning enabled true Mask before SLAM mask_specular true Remove bright glare mask_tools false YOLO tool mask (needs weights) slam Key Meaning use_fallback true = simple VO, false = ORB-SLAM3 binary, vocab, settings Paths when use_fallback: false coverage Key Meaning align_to_gt Match VO scale to ground-truth poses (C3VD) voxel_size Voxel size in same units as poses (mm for C3VD) visit_radius How close the camera must pass to mark visited coordinate_unit mm or m, written in metrics EndoSLAM only Key Meaning max_frames Limit frames for a quick run frame_stride Use every Nth frame Live only (live_webcam.yaml) Key Meaning save_every Update status.json every N frames