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SubcommandOptimizeOptions Struct Reference

Options for the rux optimize subcommand (global plane-landmark pose-graph optimization). More...

#include <optimize.hpp>

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Public Attributes

int max_planes_per_frame = 6
int min_plane_inliers = 120
float ransac_distance = 0.02f
float ransac_normal_angle = 20.0f
int ransac_iterations = 200
float assoc_normal_angle = 10.0f
float assoc_distance = 0.10f
int min_observations = 4
float assoc_overlap_margin = 0.30f
float min_landmark_spread_ratio = 0.05f
int assoc_rounds = 2
float assoc_round_tol = 0.02f
float odometry_sigma_rot = 0.005f
float odometry_sigma_trans = 0.01f
float underconstrained_odom_scale = 0.25f
std::string odometry_noise = "fixed"
float odometry_weight_min = 0.5f
float odometry_weight_max = 3.0f
bool odometry_robust = false
float odometry_gnc_inlier_cost = 8.41f
float plane_sigma_normal = 0.24f
float plane_sigma_distance = 0.19f
std::string plane_noise = "inliers"
bool no_plane_inlier_weight = false
float plane_weight_min = 0.5f
float plane_weight_max = 3.0f
float plane_sigma_scale = 1.0f
bool no_plane_factors = false
float prior_sigma_rot = 0.001f
float prior_sigma_trans = 0.001f
bool no_gnc = false
 disable Graduated Non-Convexity (plain LM)
float gnc_inlier_cost = 5.67f
int iterations = 100
unsigned seed = 42
bool loop_closure = false
std::string loop_proposal
int loop_min_frame_gap = 50
float loop_max_distance = 2.5f
float loop_max_view_angle = 45.0f
int loop_max_candidates = 5
int loop_min_inliers = 60
int loop_max_features = 3000
float loop_ratio_test = 0.85f
float loop_ransac_inlier_dist = 0.10f
float loop_max_seed_disagreement = 0.0f
float loop_min_seed_disagreement = 0.10f
float loop_min_seed_disagreement_fraction
bool loop_trust = false
float loop_trust_inlier_cost
bool loop_no_pcm = false
bool use_panoramas = false
int pano_max_frames
int pano_min_inliers
int pano_max_edges
int pano_n_yaw = reusex::geometry::PlaneGraphOptions{}.panorama_loops.n_yaw
int pano_max_features
double pano_max_distance
std::string loop_edges_file
double loop_edges_min_disagreement = 0.0
double loop_edges_min_disagreement_fraction = 0.0278
float surfel_voxel = 0.03f
float min_distance = 0.0f
float max_distance = 4.0f
int sampling_factor
int confidence_threshold = 2
bool dry_run = false

Detailed Description

Options for the rux optimize subcommand (global plane-landmark pose-graph optimization).

Defaults mirror reusex::geometry::PlaneGraphOptions so the library remains the single source of truth (docs/STANDARDS.md ยง4).

Definition at line 23 of file optimize.hpp.

Member Data Documentation

◆ assoc_distance

float SubcommandOptimizeOptions::assoc_distance = 0.10f

Definition at line 38 of file optimize.hpp.

◆ assoc_normal_angle

float SubcommandOptimizeOptions::assoc_normal_angle = 10.0f

Definition at line 37 of file optimize.hpp.

◆ assoc_overlap_margin

float SubcommandOptimizeOptions::assoc_overlap_margin = 0.30f

Definition at line 40 of file optimize.hpp.

◆ assoc_round_tol

float SubcommandOptimizeOptions::assoc_round_tol = 0.02f

Definition at line 45 of file optimize.hpp.

◆ assoc_rounds

int SubcommandOptimizeOptions::assoc_rounds = 2

Definition at line 44 of file optimize.hpp.

◆ confidence_threshold

int SubcommandOptimizeOptions::confidence_threshold = 2

Definition at line 134 of file optimize.hpp.

◆ dry_run

bool SubcommandOptimizeOptions::dry_run = false

Definition at line 136 of file optimize.hpp.

◆ gnc_inlier_cost

float SubcommandOptimizeOptions::gnc_inlier_cost = 5.67f

Definition at line 69 of file optimize.hpp.

◆ iterations

int SubcommandOptimizeOptions::iterations = 100

Definition at line 70 of file optimize.hpp.

◆ loop_closure

bool SubcommandOptimizeOptions::loop_closure = false

Definition at line 75 of file optimize.hpp.

◆ loop_edges_file

std::string SubcommandOptimizeOptions::loop_edges_file

Definition at line 118 of file optimize.hpp.

◆ loop_edges_min_disagreement

double SubcommandOptimizeOptions::loop_edges_min_disagreement = 0.0

Definition at line 122 of file optimize.hpp.

◆ loop_edges_min_disagreement_fraction

double SubcommandOptimizeOptions::loop_edges_min_disagreement_fraction = 0.0278

Definition at line 125 of file optimize.hpp.

◆ loop_max_candidates

int SubcommandOptimizeOptions::loop_max_candidates = 5

Definition at line 81 of file optimize.hpp.

◆ loop_max_distance

float SubcommandOptimizeOptions::loop_max_distance = 2.5f

Definition at line 79 of file optimize.hpp.

◆ loop_max_features

int SubcommandOptimizeOptions::loop_max_features = 3000

Definition at line 83 of file optimize.hpp.

◆ loop_max_seed_disagreement

float SubcommandOptimizeOptions::loop_max_seed_disagreement = 0.0f

Definition at line 86 of file optimize.hpp.

◆ loop_max_view_angle

float SubcommandOptimizeOptions::loop_max_view_angle = 45.0f

Definition at line 80 of file optimize.hpp.

◆ loop_min_frame_gap

int SubcommandOptimizeOptions::loop_min_frame_gap = 50

Definition at line 78 of file optimize.hpp.

◆ loop_min_inliers

int SubcommandOptimizeOptions::loop_min_inliers = 60

Definition at line 82 of file optimize.hpp.

◆ loop_min_seed_disagreement

float SubcommandOptimizeOptions::loop_min_seed_disagreement = 0.10f

Definition at line 87 of file optimize.hpp.

◆ loop_min_seed_disagreement_fraction

float SubcommandOptimizeOptions::loop_min_seed_disagreement_fraction
Initial value:
=
0.00555f

Definition at line 88 of file optimize.hpp.

◆ loop_no_pcm

bool SubcommandOptimizeOptions::loop_no_pcm = false

Definition at line 95 of file optimize.hpp.

◆ loop_proposal

std::string SubcommandOptimizeOptions::loop_proposal
Initial value:
=
"auto"

Definition at line 76 of file optimize.hpp.

◆ loop_ransac_inlier_dist

float SubcommandOptimizeOptions::loop_ransac_inlier_dist = 0.10f

Definition at line 85 of file optimize.hpp.

◆ loop_ratio_test

float SubcommandOptimizeOptions::loop_ratio_test = 0.85f

Definition at line 84 of file optimize.hpp.

◆ loop_trust

bool SubcommandOptimizeOptions::loop_trust = false

Definition at line 92 of file optimize.hpp.

◆ loop_trust_inlier_cost

float SubcommandOptimizeOptions::loop_trust_inlier_cost
Initial value:
=
reusex::geometry::PlaneGraphOptions{}.loop_trust_inlier_cost
reusex::geometry::PlaneGraphOptions
Parameters for plane-landmark pose-graph optimization.
Definition PlaneGraphOptimizer.hpp:172
reusex::geometry::PlaneGraphOptions::loop_trust_inlier_cost
float loop_trust_inlier_cost
GNC-TLS inlier threshold applied ONLY to loop-edge factors when loop_edges_trusted is set (same units...
Definition PlaneGraphOptimizer.hpp:390

Definition at line 93 of file optimize.hpp.

◆ max_distance

float SubcommandOptimizeOptions::max_distance = 4.0f

Definition at line 130 of file optimize.hpp.

◆ max_planes_per_frame

int SubcommandOptimizeOptions::max_planes_per_frame = 6

Definition at line 30 of file optimize.hpp.

◆ min_distance

float SubcommandOptimizeOptions::min_distance = 0.0f

Definition at line 129 of file optimize.hpp.

◆ min_landmark_spread_ratio

float SubcommandOptimizeOptions::min_landmark_spread_ratio = 0.05f

Definition at line 41 of file optimize.hpp.

◆ min_observations

int SubcommandOptimizeOptions::min_observations = 4

Definition at line 39 of file optimize.hpp.

◆ min_plane_inliers

int SubcommandOptimizeOptions::min_plane_inliers = 120

Definition at line 31 of file optimize.hpp.

◆ no_gnc

bool SubcommandOptimizeOptions::no_gnc = false

disable Graduated Non-Convexity (plain LM)

Definition at line 68 of file optimize.hpp.

◆ no_plane_factors

bool SubcommandOptimizeOptions::no_plane_factors = false

Definition at line 63 of file optimize.hpp.

◆ no_plane_inlier_weight

bool SubcommandOptimizeOptions::no_plane_inlier_weight = false

Definition at line 59 of file optimize.hpp.

◆ odometry_gnc_inlier_cost

float SubcommandOptimizeOptions::odometry_gnc_inlier_cost = 8.41f

Definition at line 55 of file optimize.hpp.

◆ odometry_noise

std::string SubcommandOptimizeOptions::odometry_noise = "fixed"

Definition at line 51 of file optimize.hpp.

◆ odometry_robust

bool SubcommandOptimizeOptions::odometry_robust = false

Definition at line 54 of file optimize.hpp.

◆ odometry_sigma_rot

float SubcommandOptimizeOptions::odometry_sigma_rot = 0.005f

Definition at line 48 of file optimize.hpp.

◆ odometry_sigma_trans

float SubcommandOptimizeOptions::odometry_sigma_trans = 0.01f

Definition at line 49 of file optimize.hpp.

◆ odometry_weight_max

float SubcommandOptimizeOptions::odometry_weight_max = 3.0f

Definition at line 53 of file optimize.hpp.

◆ odometry_weight_min

float SubcommandOptimizeOptions::odometry_weight_min = 0.5f

Definition at line 52 of file optimize.hpp.

◆ pano_max_distance

double SubcommandOptimizeOptions::pano_max_distance
Initial value:
=
reusex::geometry::PlaneGraphOptions{}.panorama_loops.max_pano_distance
reusex::geometry::PanoramaLoopOptions::max_pano_distance
double max_pano_distance
Reject a resection whose panorama centre sits further than this from the frame (m).
Definition PanoramaLoopEdges.hpp:122
reusex::geometry::PlaneGraphOptions::panorama_loops
PanoramaLoopOptions panorama_loops
Panorama-derived wide-baseline loop edges (issue #236; off by default, --use-panoramas).
Definition PlaneGraphOptimizer.hpp:363

Definition at line 110 of file optimize.hpp.

◆ pano_max_edges

int SubcommandOptimizeOptions::pano_max_edges
Initial value:
= reusex::geometry::PlaneGraphOptions{}
.panorama_loops.max_edges_per_panorama
reusex::geometry::PanoramaLoopOptions::max_edges_per_panorama
int max_edges_per_panorama
Cap the edges contributed per panorama (highest joint inlier support first).
Definition PanoramaLoopEdges.hpp:129

Definition at line 105 of file optimize.hpp.

◆ pano_max_features

int SubcommandOptimizeOptions::pano_max_features
Initial value:
=
reusex::geometry::PlaneGraphOptions{}.panorama_loops.max_features
reusex::geometry::PanoramaLoopOptions::max_features
int max_features
ORB features per image.
Definition PanoramaLoopEdges.hpp:95

Definition at line 108 of file optimize.hpp.

◆ pano_max_frames

int SubcommandOptimizeOptions::pano_max_frames
Initial value:
=
reusex::geometry::PlaneGraphOptions{}.panorama_loops.max_frames
reusex::geometry::PanoramaLoopOptions::max_frames
int max_frames
Panorama alignment matches a temporal window around the timestamp-seed frame (PanoramaAlignmentOption...
Definition PanoramaLoopEdges.hpp:84

Definition at line 101 of file optimize.hpp.

◆ pano_min_inliers

int SubcommandOptimizeOptions::pano_min_inliers
Initial value:
=
reusex::geometry::PlaneGraphOptions{}.panorama_loops.min_frame_inliers
reusex::geometry::PanoramaLoopOptions::min_frame_inliers
int min_frame_inliers
Accept a frame's independent resection above this many gated inliers.
Definition PanoramaLoopEdges.hpp:112

Definition at line 103 of file optimize.hpp.

◆ pano_n_yaw

int SubcommandOptimizeOptions::pano_n_yaw = reusex::geometry::PlaneGraphOptions{}.panorama_loops.n_yaw

Definition at line 107 of file optimize.hpp.

◆ plane_noise

std::string SubcommandOptimizeOptions::plane_noise = "inliers"

Definition at line 58 of file optimize.hpp.

◆ plane_sigma_distance

float SubcommandOptimizeOptions::plane_sigma_distance = 0.19f

Definition at line 57 of file optimize.hpp.

◆ plane_sigma_normal

float SubcommandOptimizeOptions::plane_sigma_normal = 0.24f

Definition at line 56 of file optimize.hpp.

◆ plane_sigma_scale

float SubcommandOptimizeOptions::plane_sigma_scale = 1.0f

Definition at line 62 of file optimize.hpp.

◆ plane_weight_max

float SubcommandOptimizeOptions::plane_weight_max = 3.0f

Definition at line 61 of file optimize.hpp.

◆ plane_weight_min

float SubcommandOptimizeOptions::plane_weight_min = 0.5f

Definition at line 60 of file optimize.hpp.

◆ prior_sigma_rot

float SubcommandOptimizeOptions::prior_sigma_rot = 0.001f

Definition at line 64 of file optimize.hpp.

◆ prior_sigma_trans

float SubcommandOptimizeOptions::prior_sigma_trans = 0.001f

Definition at line 65 of file optimize.hpp.

◆ ransac_distance

float SubcommandOptimizeOptions::ransac_distance = 0.02f

Definition at line 32 of file optimize.hpp.

◆ ransac_iterations

int SubcommandOptimizeOptions::ransac_iterations = 200

Definition at line 34 of file optimize.hpp.

◆ ransac_normal_angle

float SubcommandOptimizeOptions::ransac_normal_angle = 20.0f

Definition at line 33 of file optimize.hpp.

◆ sampling_factor

int SubcommandOptimizeOptions::sampling_factor
Initial value:
=
reusex::geometry::PlaneGraphOptions{}.surfel.sampling_factor
reusex::geometry::PlaneGraphOptions::surfel
SurfelExtractionParams surfel
Surfel extraction settings.
Definition PlaneGraphOptimizer.hpp:349
reusex::geometry::SurfelExtractionParams::sampling_factor
int sampling_factor
per-pixel subsampling (1=all, 2=half, ...)
Definition surfel_extraction.hpp:22

Definition at line 132 of file optimize.hpp.

◆ seed

unsigned SubcommandOptimizeOptions::seed = 42

Definition at line 71 of file optimize.hpp.

◆ surfel_voxel

float SubcommandOptimizeOptions::surfel_voxel = 0.03f

Definition at line 128 of file optimize.hpp.

◆ underconstrained_odom_scale

float SubcommandOptimizeOptions::underconstrained_odom_scale = 0.25f

Definition at line 50 of file optimize.hpp.

◆ use_panoramas

bool SubcommandOptimizeOptions::use_panoramas = false

Definition at line 100 of file optimize.hpp.

The documentation for this struct was generated from the following file: