Struct libCalibGeom::OptimizationSettings

Settings for the bundle adjustment optimization.

Public data members

robustNorm

RobustifierTyperobustNorm

Robust cost function type.

robustNormThreshold

doublerobustNormThreshold

Threshold for robust cost function.

maxIterations

intmaxIterations

Maximum number of iterations.

maxTime

intmaxTime

Maximum optimization time in seconds.

numThreads

intnumThreads

Number of threads to use.

toleranceFun

doubletoleranceFun

Function value tolerance for convergence.

onlyDecreasingSteps

boolonlyDecreasingSteps

Only accept steps that decrease cost.

useFeatureUncertainty

booluseFeatureUncertainty

Weight residuals by feature uncertainty.

targetGeometry

TargetGeometrytargetGeometry

Target geometry optimizaton mode.

testFraction

doubletestFraction

Fraction of poses to hold out per test fold when computing test RPE. With testFolds == 1, this performs a single held-out split. With testFolds > 1, folds use this held-out fraction; if the requested folds fit without overlap they are sampled without replacement, otherwise folds are sampled with replacement. Set to 0.0 together with testFolds > 1 to request classical grouped K-fold cross validation over poses.

testFolds

inttestFolds

Number of grouped pose folds used for test RPE. Set to 1 (default) for a single held-out split. Values greater than 1 enable repeated or classical grouped cross validation over poses depending on testFraction.