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poba_batch_config.toml
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poba_batch_config.toml
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########################################################################
##
## poba_batch_config.toml
##
## Batch config file for systematically generating rootba_config.toml
## files in a specific folder structure that allows running
## experiments automatically for systematic evaluation.
##
## This file serves as input to the `generate-batch-configs.py`
## script and experiments for the the generated config files can be
## run with `run-all-in.sh`
##
## The configs in this files can be used to reproduce the experiement
## results in PoBA paper.
##
########################################################################
########################################################################
# 1. base config
#
# All entries not in the `_batch` group serve as the base config and
# are copied into all generated config files (but they may be
# overwritten by the configurations specified with "alterantives" and
# "combinations", see below).
########################################################################
# The `batch_run` section is for the runner script, to configure the
# binary and environment variables for execution.
[batch_run]
executable = "bal"
[batch_run.env]
OPENBLAS_NUM_THREADS = 1
OMP_NUM_THREADS = 1
# The `dataset` and `solver` sections are read by the rootba
# executable.
[dataset]
random_seed = 38401
rotation_sigma = 0
translation_sigma = 0.01
point_sigma = 0.01
init_depth_threshold = 0.1
[solver]
num_threads = 0
staged_execution = true
optimized_cost = "ERROR"
preconditioner_type = "SCHUR_JACOBI"
eta = 0.01
[solver.residual]
robust_norm = "HUBER"
huber_parameter = 1.0
[solver.log]
save_log_flags = ["UBJSON"]
########################################################################
# 2. named configs
#
# Config sections like `_batch.config.NAME` are later referenced by
# their NAME. The part that comes below NAME is merged into the base
# config file, where existing sections are merged, and other existing
# config elements are overwritten. Each named config can have as many
# entries as you like.
#
# The sub-folder names for generated experiments are also determined
# as a concatenation of these config names.
########################################################################
###################
# All BAL datasets
#
# Note: Using the `generate-batch-configs.py` and `run-all-in.sh`
# scripts, the working directory of experiment runs will be 4 folder
# levels down, so any relative paths need 4 additional `..`
# levels. Absolute paths are of course also possible.
[_batch.config.dubrovnik16]
dataset.input = "../../../../../rootba_data/bal/dubrovnik/problem-16-22106-pre.txt"
[_batch.config.dubrovnik88]
dataset.input = "../../../../../rootba_data/bal/dubrovnik/problem-88-64298-pre.txt"
[_batch.config.dubrovnik135]
dataset.input = "../../../../../rootba_data/bal/dubrovnik/problem-135-90642-pre.txt"
[_batch.config.dubrovnik142]
dataset.input = "../../../../../rootba_data/bal/dubrovnik/problem-142-93602-pre.txt"
[_batch.config.dubrovnik150]
dataset.input = "../../../../../rootba_data/bal/dubrovnik/problem-150-95821-pre.txt"
[_batch.config.dubrovnik161]
dataset.input = "../../../../../rootba_data/bal/dubrovnik/problem-161-103832-pre.txt"
[_batch.config.dubrovnik173]
dataset.input = "../../../../../rootba_data/bal/dubrovnik/problem-173-111908-pre.txt"
[_batch.config.dubrovnik182]
dataset.input = "../../../../../rootba_data/bal/dubrovnik/problem-182-116770-pre.txt"
[_batch.config.dubrovnik202]
dataset.input = "../../../../../rootba_data/bal/dubrovnik/problem-202-132796-pre.txt"
[_batch.config.dubrovnik237]
dataset.input = "../../../../../rootba_data/bal/dubrovnik/problem-237-154414-pre.txt"
[_batch.config.dubrovnik253]
dataset.input = "../../../../../rootba_data/bal/dubrovnik/problem-253-163691-pre.txt"
[_batch.config.dubrovnik262]
dataset.input = "../../../../../rootba_data/bal/dubrovnik/problem-262-169354-pre.txt"
[_batch.config.dubrovnik273]
dataset.input = "../../../../../rootba_data/bal/dubrovnik/problem-273-176305-pre.txt"
[_batch.config.dubrovnik287]
dataset.input = "../../../../../rootba_data/bal/dubrovnik/problem-287-182023-pre.txt"
[_batch.config.dubrovnik308]
dataset.input = "../../../../../rootba_data/bal/dubrovnik/problem-308-195089-pre.txt"
[_batch.config.dubrovnik356]
dataset.input = "../../../../../rootba_data/bal/dubrovnik/problem-356-226730-pre.txt"
[_batch.config.final93]
dataset.input = "../../../../../rootba_data/bal/final/problem-93-61203-pre.txt"
[_batch.config.final394]
dataset.input = "../../../../../rootba_data/bal/final/problem-394-100368-pre.txt"
[_batch.config.final871]
dataset.input = "../../../../../rootba_data/bal/final/problem-871-527480-pre.txt"
[_batch.config.final961]
dataset.input = "../../../../../rootba_data/bal/final/problem-961-187103-pre.txt"
[_batch.config.final1936]
dataset.input = "../../../../../rootba_data/bal/final/problem-1936-649673-pre.txt"
[_batch.config.final3068]
dataset.input = "../../../../../rootba_data/bal/final/problem-3068-310854-pre.txt"
[_batch.config.final4585]
dataset.input = "../../../../../rootba_data/bal/final/problem-4585-1324582-pre.txt"
[_batch.config.final13682]
dataset.input = "../../../../../rootba_data/bal/final/problem-13682-4456117-pre.txt"
[_batch.config.ladybug49]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-49-7776-pre.txt"
[_batch.config.ladybug73]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-73-11032-pre.txt"
[_batch.config.ladybug138]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-138-19878-pre.txt"
[_batch.config.ladybug318]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-318-41628-pre.txt"
[_batch.config.ladybug372]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-372-47423-pre.txt"
[_batch.config.ladybug412]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-412-52215-pre.txt"
[_batch.config.ladybug460]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-460-56811-pre.txt"
[_batch.config.ladybug539]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-539-65220-pre.txt"
[_batch.config.ladybug598]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-598-69218-pre.txt"
[_batch.config.ladybug646]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-646-73584-pre.txt"
[_batch.config.ladybug707]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-707-78455-pre.txt"
[_batch.config.ladybug783]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-783-84444-pre.txt"
[_batch.config.ladybug810]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-810-88814-pre.txt"
[_batch.config.ladybug856]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-856-93344-pre.txt"
[_batch.config.ladybug885]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-885-97473-pre.txt"
[_batch.config.ladybug931]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-931-102699-pre.txt"
[_batch.config.ladybug969]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-969-105826-pre.txt"
[_batch.config.ladybug1031]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-1031-110968-pre.txt"
[_batch.config.ladybug1064]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-1064-113655-pre.txt"
[_batch.config.ladybug1118]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-1118-118384-pre.txt"
[_batch.config.ladybug1152]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-1152-122269-pre.txt"
[_batch.config.ladybug1197]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-1197-126327-pre.txt"
[_batch.config.ladybug1235]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-1235-129634-pre.txt"
[_batch.config.ladybug1266]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-1266-132593-pre.txt"
[_batch.config.ladybug1340]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-1340-137079-pre.txt"
[_batch.config.ladybug1469]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-1469-145199-pre.txt"
[_batch.config.ladybug1514]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-1514-147317-pre.txt"
[_batch.config.ladybug1587]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-1587-150845-pre.txt"
[_batch.config.ladybug1642]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-1642-153820-pre.txt"
[_batch.config.ladybug1695]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-1695-155710-pre.txt"
[_batch.config.ladybug1723]
dataset.input = "../../../../../rootba_data/bal/ladybug/problem-1723-156502-pre.txt"
[_batch.config.trafalgar21]
dataset.input = "../../../../../rootba_data/bal/trafalgar/problem-21-11315-pre.txt"
[_batch.config.trafalgar39]
dataset.input = "../../../../../rootba_data/bal/trafalgar/problem-39-18060-pre.txt"
[_batch.config.trafalgar50]
dataset.input = "../../../../../rootba_data/bal/trafalgar/problem-50-20431-pre.txt"
[_batch.config.trafalgar126]
dataset.input = "../../../../../rootba_data/bal/trafalgar/problem-126-40037-pre.txt"
[_batch.config.trafalgar138]
dataset.input = "../../../../../rootba_data/bal/trafalgar/problem-138-44033-pre.txt"
[_batch.config.trafalgar161]
dataset.input = "../../../../../rootba_data/bal/trafalgar/problem-161-48126-pre.txt"
[_batch.config.trafalgar170]
dataset.input = "../../../../../rootba_data/bal/trafalgar/problem-170-49267-pre.txt"
[_batch.config.trafalgar174]
dataset.input = "../../../../../rootba_data/bal/trafalgar/problem-174-50489-pre.txt"
[_batch.config.trafalgar193]
dataset.input = "../../../../../rootba_data/bal/trafalgar/problem-193-53101-pre.txt"
[_batch.config.trafalgar201]
dataset.input = "../../../../../rootba_data/bal/trafalgar/problem-201-54427-pre.txt"
[_batch.config.trafalgar206]
dataset.input = "../../../../../rootba_data/bal/trafalgar/problem-206-54562-pre.txt"
[_batch.config.trafalgar215]
dataset.input = "../../../../../rootba_data/bal/trafalgar/problem-215-55910-pre.txt"
[_batch.config.trafalgar225]
dataset.input = "../../../../../rootba_data/bal/trafalgar/problem-225-57665-pre.txt"
[_batch.config.trafalgar257]
dataset.input = "../../../../../rootba_data/bal/trafalgar/problem-257-65132-pre.txt"
[_batch.config.venice52]
dataset.input = "../../../../../rootba_data/bal/venice/problem-52-64053-pre.txt"
[_batch.config.venice89]
dataset.input = "../../../../../rootba_data/bal/venice/problem-89-110973-pre.txt"
[_batch.config.venice245]
dataset.input = "../../../../../rootba_data/bal/venice/problem-245-198739-pre.txt"
[_batch.config.venice427]
dataset.input = "../../../../../rootba_data/bal/venice/problem-427-310384-pre.txt"
[_batch.config.venice744]
dataset.input = "../../../../../rootba_data/bal/venice/problem-744-543562-pre.txt"
[_batch.config.venice951]
dataset.input = "../../../../../rootba_data/bal/venice/problem-951-708276-pre.txt"
[_batch.config.venice1102]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1102-780462-pre.txt"
[_batch.config.venice1158]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1158-802917-pre.txt"
[_batch.config.venice1184]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1184-816583-pre.txt"
[_batch.config.venice1238]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1238-843534-pre.txt"
[_batch.config.venice1288]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1288-866452-pre.txt"
[_batch.config.venice1350]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1350-894716-pre.txt"
[_batch.config.venice1408]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1408-912229-pre.txt"
[_batch.config.venice1425]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1425-916895-pre.txt"
[_batch.config.venice1473]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1473-930345-pre.txt"
[_batch.config.venice1490]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1490-935273-pre.txt"
[_batch.config.venice1521]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1521-939551-pre.txt"
[_batch.config.venice1544]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1544-942409-pre.txt"
[_batch.config.venice1638]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1638-976803-pre.txt"
[_batch.config.venice1666]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1666-983911-pre.txt"
[_batch.config.venice1672]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1672-986962-pre.txt"
[_batch.config.venice1681]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1681-983415-pre.txt"
[_batch.config.venice1682]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1682-983268-pre.txt"
[_batch.config.venice1684]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1684-983269-pre.txt"
[_batch.config.venice1695]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1695-984689-pre.txt"
[_batch.config.venice1696]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1696-984816-pre.txt"
[_batch.config.venice1706]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1706-985529-pre.txt"
[_batch.config.venice1776]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1776-993909-pre.txt"
[_batch.config.venice1778]
dataset.input = "../../../../../rootba_data/bal/venice/problem-1778-993923-pre.txt"
###################
# solver type: qr, sc, ceres, poba
[_batch.config.rootbaqr]
solver.solver_type = "SQUARE_ROOT"
[_batch.config.rootbasc]
solver.solver_type = "SCHUR_COMPLEMENT"
[_batch.config.ceres]
solver.solver_type = "CERES"
[_batch.config.rootbapower]
solver.solver_type = "POWER_SCHUR_COMPLEMENT"
###################
# general options relevant for both solvers
[_batch.config.it00]
solver.max_num_iterations = 0
[_batch.config.it01]
solver.max_num_iterations = 1
[_batch.config.it05]
solver.max_num_iterations = 5
[_batch.config.it10]
solver.max_num_iterations = 10
[_batch.config.it20]
solver.max_num_iterations = 20
[_batch.config.it50]
solver.max_num_iterations = 50
[_batch.config.it100]
solver.max_num_iterations = 100
[_batch.config.j00]
solver.num_threads = 0
[_batch.config.j01]
solver.num_threads = 1
[_batch.config.j02]
solver.num_threads = 2
[_batch.config.j04]
solver.num_threads = 4
[_batch.config.j06]
solver.num_threads = 6
[_batch.config.j08]
solver.num_threads = 8
[_batch.config.j12]
solver.num_threads = 12
[_batch.config.j18]
solver.num_threads = 18
[_batch.config.j24]
solver.num_threads = 24
[_batch.config.saveopt]
dataset.save_output = true
[_batch.config.norobust]
solver.residual.robust_norm = "NONE"
[_batch.config.huber]
solver.residual.robust_norm = "HUBER"
solver.residual.huber_parameter = 1.0
[_batch.config.schurjacobi]
solver.preconditioner_type = "SCHUR_JACOBI"
[_batch.config.jacobi]
solver.preconditioner_type = "JACOBI"
[_batch.config.powersc]
solver.preconditioner_type = "POWER_SCHUR_COMPLEMENT" # only support SCHUR_COMPLEMENT
[_batch.config.optimized_cost_error]
solver.optimized_cost = "ERROR"
[_batch.config.optimized_cost_error_valid]
solver.optimized_cost = "ERROR_VALID"
[_batch.config.optimized_cost_error_valid_avg]
solver.optimized_cost = "ERROR_VALID_AVG"
###################
# Options for the RootBA solver types
[_batch.config.double]
solver.use_double = true
[_batch.config.float]
solver.use_double = false
[_batch.config.staged]
solver.staged_execution = true
[_batch.config.unstaged]
solver.staged_execution = false
###################
# Options for POWER_SCHUR_COMPLEMENT
[_batch.config.maxorderpower01]
solver.power_order = 1
[_batch.config.maxorderpower02]
solver.power_order = 2
[_batch.config.maxorderpower03]
solver.power_order = 3
[_batch.config.maxorderpower10]
solver.power_order = 10
[_batch.config.maxorderpower20]
solver.power_order = 20
[_batch.config.maxorderpower30]
solver.power_order = 30
[_batch.config.maxorderpower40]
solver.power_order = 40
[_batch.config.maxorderpower50]
solver.power_order = 50
###################
# Options for Ceres
[_batch.config.cgnr]
solver.linear_solver_type = "CGNR" # only support's the JACOBI preconditioner
[_batch.config.dense_cholesky]
solver.linear_solver_type = "DENSE_SCHUR"
[_batch.config.spare_cholesky]
solver.linear_solver_type = "SPARSE_SCHUR"
[_batch.config.explicitsc]
solver.linear_solver_type = "ITERATIVE_SCHUR"
solver.use_explicit_schur_complement = true # only supportes the SCHUR_JACOBI preconditioner
[_batch.config.implicitsc]
solver.linear_solver_type = "ITERATIVE_SCHUR"
solver.use_explicit_schur_complement = false
########################################################################
# 3. alternatives
#
# The section `_batch.alternatives` defines groups of the qnamed
# configs defined above (referenced by NAME) for which we want to
# generate one experiment each. For example, if an alternative
# contains 3 entries, 3 different experiments are generated. An
# obvious example are the different datasets, but it can be any
# configration for which we might want an OR relation when generating
# experiments.
#
# Each set of alternatives is identified by the table key as its NAME
# and the value is a list of strings, which need to refer to NAMES of
# named configs.
########################################################################
[_batch.alternatives]
# all BAL 'ladybug' datasets
bal_ladybug = ["ladybug49", "ladybug73", "ladybug138", "ladybug318", "ladybug372", "ladybug412", "ladybug460", "ladybug539", "ladybug598", "ladybug646", "ladybug707", "ladybug783", "ladybug810", "ladybug856", "ladybug885", "ladybug931", "ladybug969", "ladybug1064", "ladybug1118", "ladybug1152", "ladybug1197", "ladybug1235", "ladybug1266", "ladybug1340", "ladybug1469", "ladybug1514", "ladybug1587", "ladybug1642", "ladybug1695", "ladybug1723"]
# all BAL 'trafalgar' datasets
bal_trafalgar = ["trafalgar21", "trafalgar39", "trafalgar50", "trafalgar126", "trafalgar138", "trafalgar161", "trafalgar170", "trafalgar174", "trafalgar193", "trafalgar201", "trafalgar206", "trafalgar215", "trafalgar225", "trafalgar257"]
# all BAL 'dubrovnik' datasets
bal_dubrovnik = ["dubrovnik16", "dubrovnik88", "dubrovnik135", "dubrovnik142", "dubrovnik150", "dubrovnik161", "dubrovnik173", "dubrovnik182", "dubrovnik202", "dubrovnik237", "dubrovnik253", "dubrovnik262", "dubrovnik273", "dubrovnik287", "dubrovnik308", "dubrovnik356"]
# all BAL 'venice' datasets
bal_venice = ["venice52", "venice89", "venice245", "venice427", "venice744", "venice951", "venice1102", "venice1158", "venice1184", "venice1238", "venice1288", "venice1350", "venice1408", "venice1425", "venice1473", "venice1490", "venice1521", "venice1544", "venice1638", "venice1666", "venice1672", "venice1681", "venice1682", "venice1684", "venice1695", "venice1696", "venice1706", "venice1776", "venice1778"]
# all BAL 'final' datasets
bal_final = ["final93", "final394", "final871", "final961", "final1936", "final3068", "final4585", "final13682"]
# all BAL datasets
all_bal = ["ladybug49", "ladybug73", "ladybug138", "ladybug318", "ladybug372", "ladybug412", "ladybug460", "ladybug539", "ladybug598", "ladybug646", "ladybug707", "ladybug783", "ladybug810", "ladybug856", "ladybug885", "ladybug931", "ladybug969", "ladybug1064", "ladybug1118", "ladybug1152", "ladybug1197", "ladybug1235", "ladybug1266", "ladybug1340", "ladybug1469", "ladybug1514", "ladybug1587", "ladybug1642", "ladybug1695", "ladybug1723","trafalgar21", "trafalgar39", "trafalgar50", "trafalgar126", "trafalgar138", "trafalgar161", "trafalgar170", "trafalgar174", "trafalgar193", "trafalgar201", "trafalgar206", "trafalgar215", "trafalgar225", "trafalgar257", "dubrovnik16", "dubrovnik88", "dubrovnik135", "dubrovnik142", "dubrovnik150", "dubrovnik161", "dubrovnik173", "dubrovnik182", "dubrovnik202", "dubrovnik237", "dubrovnik253", "dubrovnik262", "dubrovnik273", "dubrovnik287", "dubrovnik308", "dubrovnik356", "venice52", "venice89", "venice245", "venice427", "venice744", "venice951", "venice1102", "venice1158", "venice1184", "venice1238", "venice1288", "venice1350", "venice1408", "venice1425", "venice1473", "venice1490", "venice1521", "venice1544", "venice1638", "venice1666", "venice1672", "venice1681", "venice1682", "venice1684", "venice1695", "venice1696", "venice1706", "venice1776", "venice1778", "final93", "final394", "final871", "final961", "final1936", "final3068", "final4585", "final13682"]
# small subset of BAL datasets
some_bal = ["ladybug73", "ladybug539", "ladybug1723", "trafalgar126", "trafalgar170", "trafalgar257", "dubrovnik88", "dubrovnik173", "dubrovnik356", "venice89", "venice744", "venice1778", "final93", "final394", "final871", "final4585"]
# small subset of 10 ladybug sequences for the tutorial
tutorial_bal = ["ladybug49", "ladybug73", "ladybug138", "ladybug318", "ladybug372", "ladybug412", "ladybug460", "ladybug539", "ladybug598", "ladybug646"]
# Optimize in different precision
all_float = ["double", "float"]
# Run ceres with explicit or implicit Schur complement
all_itsc = ["explicitsc", "implicitsc"]
########################################################################
# 4. combinations
#
# The section `_batch.combinations` defines groups of named configs or
# named alternatives. Each combination will generate a set of
# expriments were the base config is merged with all defined configs.
# They are merged in order, from left to right, so later configs can
# overwrite config elements of both the base config and earlier
# configs. Whenever alternatives are specified, one experiment is
# generated for each of the alternatives. There may appear more than
# one of the alternatives in a specific combination, in which case the
# number of experiments is determined by the product set of all
# alternatives. For example, if define a combination with one named
# alternative that has 2 configs, and one that has 3, we get a total
# of 6 experiments being generated.
#
# Each of the combinations is indentified by the table key as its
# NAME, which becomes a sub-folder name for the generated files. The
# value is a list of strings, where each string is either the NAME of
# a named config, or the NAME of one of the defined alternatives, and
# the different list entries are in an AND relation.
########################################################################
# Default settings for experiments in PoBA paper (see solver_options.hpp for definition).
#
# - Optimization
# - function_tolerance = 1e-6
# - max_linear_solver_iterations = 500
# - eta = 0.01 (epsilon)
# - initial_trust_region_radius = 1e4 (lambda = 1 / radius)
# - Initial value perturbation
# - translation_sigma = 0.01 (camera position)
# - point_sigma = 0.01 (landmark)
# The following combinations reproduce the paper results
[_batch.combinations]
# RootBA QR solver
1_rootba_qr = ["it50", "rootbaqr", "all_float", "j04", "all_bal"]
# ceres solver (explicit and implicit)
2_rootba_ceres = ["it50", "ceres", "all_itsc", "j04", "all_bal"]
# PoBA solver
3_rootba_poba = ["it50", "rootbapower", "all_float", "maxorderpower20", "j04", "all_bal"]
# Schur complement solver with PoBA preconditioner (not presented in the paper)
4_rootba_poba_precond = ["it50", "rootbasc", "powersc", "all_float", "maxorderpower02", "j04", "all_bal"]
########################################################################
# 5. revision
#
# Revision is the main folder name for the generated experiments. We
# suggest adopting a naming scheme like with numbered names
#
# 01_my_first_set_of_experiments
# 02_some_more_tests
# 03_fixed_implementation
# ...
#
# such that folders are sorted chronologically. This way it might be
# easier to later find previous relults.
########################################################################
[_batch]
revision = "cvpr_poba"