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configuration.md

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Configuring CODEM

Overview

Numerous algorithm parameters can be tuned when running CODEM by specifying option names and values. The available options can be viewed by running codem --help:

$ codem --help
usage: codem [-h] [--min_resolution MIN_RESOLUTION] [--dsm_akaze_threshold DSM_AKAZE_THRESHOLD]
             [--dsm_lowes_ratio DSM_LOWES_RATIO] [--dsm_ransac_max_iter DSM_RANSAC_MAX_ITER]
             [--dsm_ransac_threshold DSM_RANSAC_THRESHOLD] [--dsm_solve_scale DSM_SOLVE_SCALE]
             [--dsm_strong_filter DSM_STRONG_FILTER] [--dsm_weak_filter DSM_WEAK_FILTER]
             [--icp_angle_threshold ICP_ANGLE_THRESHOLD] [--icp_distance_threshold ICP_DISTANCE_THRESHOLD]
             [--icp_max_iter ICP_MAX_ITER] [--icp_rmse_threshold ICP_RMSE_THRESHOLD]
             [--icp_robust ICP_ROBUST] [--icp_solve_scale ICP_SOLVE_SCALE] [--verbose VERBOSE]
             foundation_file aoi_file

In most cases, the default parameter values (see below) are sufficient.

Configuration Parameters

Option values must adhere to the following limits and data types:

Coarse, Feature-Based Registration Parameters:

  • DSM_STRONG_FILTER
    • description: standard deviation of the large Gaussian filter used to normalize the DSM prior to feature extraction; larger values allow longer wavelength vertical features to pass through into the normalized DSM
    • command line argument: -dst or --dsm_strong_filter
    • units: meters
    • dtype: float
    • limits: x > 0.0
    • default: 10
  • DSM_WEAK_FILTER
    • description: standard deviation of the small Gaussian filter used to normalize the DSM prior to feature extraction; larger values increasingly blur short wavelength vertical features in the normalized DSM
    • command line argument: dwf or --dsm_weak_filter
    • units: meters
    • dtype: float
    • limits: x > 0.0
    • default: 1
  • DSM_AKAZE_THRESHOLD
    • description: Accelerated-KAZE feature detection response threshold; larger values require increasingly distinctive local geometry for a feature to be detected
    • command line argument: -dat or --dsm_akaze_threshold
    • units: none
    • dtype: float
    • limits: x > 0.0
    • default: 0.0001
  • DSM_LOWES_RATIO
    • description: feature matching relative strength control; larger values allow weaker matches relative to the next best match
    • command line argument: -dlr or --dsm_lowes_ratio
    • units: none
    • dtype: float
    • limits: 0.0 < x < 1.0
    • default: 0.9
  • DSM_RANSAC_THRESHOLD
    • description: maximum residual error for a matched feature pair to be included in a random sample consensus (RANSAC) solution to a 3D registration transformation; larger values include matched feature pairs with increasingly greater disagreement with the solution
    • command line argument: -drt or --dsm_ransac_threshold
    • units: meters
    • dtype: float
    • limits: x > 0
    • default: 10
  • DSM_RANSAC_MAX_ITER
    • description: the max iterations for the RANSAC algorithm
    • command line argument: -drmi or --dsm_ransac_max_iter
    • units: iterations
    • dtype: int
    • limits: x > 0
    • default: 10000
  • DSM_SOLVE_SCALE
    • description: flag to include or exclude scale from the solved coarse registration transformation
    • command line argument: -dss or --dsm_solve_scale
    • units: N/A
    • dtype: bool
    • limits: True or False
    • default: True

Fine, ICP-Based Registration Parameters:

  • ICP_MAX_ITER
    • description: the max iterations for the iterative closest point algorithm
    • command line argument: -imi or --icp_max_iter
    • units: iterations
    • dtype: int
    • limits: x > 0
    • default: 100
  • ICP_RMSE_THRESHOLD
    • description: ICP convergence criterion; minimum relative change between iterations in the root mean squared error
    • command line argument: -irt or --icp_rmse_threshold
    • units: meters
    • dtype: float
    • limits: x > 0
    • default: 0.0001
  • ICP_ANGLE_THRESHOLD
    • description: ICP convergence criterion; minimum change in Euler angle between iterations
    • command line argument: -iat or --icp_angle_threshold
    • units: degrees
    • dtype: float
    • limits: x > 0
    • default: 0.001
  • ICP_DISTANCE_THRESHOLD
    • description: ICP convergence criterion; minimum change in translation between iterations
    • command line argument: -idt or --icp_distance_threshold
    • units: meters
    • dtype: float
    • limits: x > 0
    • default: 0.001
  • ICP_SOLVE_SCALE
    • description: flag to include or exclude scale from the solved fine registration transformation
    • command line argument: -iss or --icp_solve_scale
    • units: N/A
    • dtype: bool
    • limits: True or False
    • default: True
  • ICP_ROBUST
    • description: flag to include or exclude robust weighting in the fine registration solution
    • command line argument: -ir or --icp_robust
    • units: N/A
    • dtype: bool
    • limits: True or False
    • default: True

Other Parameters:

  • MIN_RESOLUTION
    • description: the minimum pipeline data resolution; smaller values increase computation time
    • command line argument: -min or --min_resolution
    • units: meters
    • dtype: float
    • limits: x > 0
    • default: 1.0
  • VERBOSE
    • description: flag to output verbose logging information to the console
    • command line argument: -v or --verbose
    • units: N/A
    • dtype: bool
    • limits: True or False
    • default: False