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rootba_config_default.toml
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rootba_config_default.toml
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[dataset]
input = ""
input_type = "AUTO"
save_output = false
output_optimized_path = "optimized.cereal"
normalize = true
normalization_scale = 100.0
rotation_sigma = 0.0
translation_sigma = 0.0
point_sigma = 0.0
random_seed = 38401
init_depth_threshold = 0.0
quiet = false
[solver]
solver_type = "SQUARE_ROOT"
verbosity_level = 2
debug = false
num_threads = 0
optimized_cost = "ERROR"
max_num_iterations = 20
min_relative_decrease = 0.0
initial_trust_region_radius = 10000.0
min_trust_region_radius = 1e-32
max_trust_region_radius = 1e+16
min_lm_diagonal = 1e-06
max_lm_diagonal = 1e+32
min_linear_solver_iterations = 0
max_linear_solver_iterations = 500
eta = 0.1
jacobi_scaling = true
jacobi_scaling_epsilon = 0.0
preconditioner_type = "SCHUR_JACOBI"
linear_solver_type = "ITERATIVE_SCHUR"
use_explicit_schur_complement = false
function_tolerance = 1e-06
gradient_tolerance = 0.0
parameter_tolerance = 0.0
check_gradients = false
gradient_check_relative_precision = 1e-08
gradient_check_numeric_derivative_relative_step_size = 1e-06
use_double = true
use_householder_marginalization = true
staged_execution = true
reduction_alg = 1
power_order = 10
initial_vee = 2.0
vee_factor = 2.0
[solver.residual]
robust_norm = "NONE"
huber_parameter = 1.0
[solver.log]
log_path = "ba_log.json"
save_log_flags = [
"JSON",
]
disable_all = false