############### Input/Output ###############
# Input/output files.
# Set these if a matches file is not present. Images should be a filepath with a
# wildcard e.g., /home/my_username/my_images/*.jpg
--1dsfm_dataset_directory=
--output_reconstruction=

############### Multithreading ###############
# Set to the number of threads you want to use.
--num_threads=16

############### General SfM Options ###############
--reconstruction_estimator=GLOBAL
--min_num_inliers_for_valid_match=30
--min_track_length=3
--max_track_length=50
--reconstruct_largest_connected_component=true
# If set to true, only views with known calibration are reconstructed.
--only_calibrated_views=false

############### Global SfM Options ###############
--global_position_estimator=LEAST_UNSQUARED_DEVIATION
--global_rotation_estimator=ROBUST_L1L2
--post_rotation_filtering_degrees=15.0

# This refinement is very unstable for rotation-only motions so
# it is advised that this is set to false for these motions.
--refine_relative_translations_after_rotation_estimation=true

# If true, only cameras that are well-conditioned for position estimation will
# be used for global position estimation
--extract_maximal_rigid_subgraph=false

# Filter the relative translations with the 1DSfM filter to remove potential
# outliers in the relative pose measurements.
--filter_relative_translations_with_1dsfm=true

# Nonlinear position estimation options
--position_estimation_min_num_tracks_per_view=0
--position_estimation_robust_loss_width=0.1

# If true, perform a single iteration of bundle adjustment only on the camera
# positions and 3D points (rotation and camera intrinsics are held
# constant). This helps often to constrain inaccurate intrinsics.
--refine_camera_positions_and_points_after_position_estimation=false

# After estimating camera poses, we perform trianguation, then BA,
# then filter out bad points. This controls how many times we repeat
# this process.
--num_retriangulation_iterations=1

############### Incremental SfM Options ###############

# NOTE: This threshold is relative to an image with a width of 1024 pixels. It
# will be scaled appropriately based on the image resolutions. This allows a
# single threshold to be used for images with different resolutions.
--absolute_pose_reprojection_error_threshold=4
--partial_bundle_adjustment_num_views=20
--full_bundle_adjustment_growth_percent=5
--min_num_absolute_pose_inliers=30

############### Bundle Adjustment Options ###############
# Set this parameter to a value other than NONE if you want to utilize a robust
# cost function during bundle adjustment. This can increase robustness to outliers
# during the optimization.
--bundle_adjustment_robust_loss_function=CAUCHY

# Set this value to the determine the reprojection error in pixelst at which
# robustness begins (if a robust cost function is being used).
--bundle_adjustment_robust_loss_width=10.0

# Set this parameter to change which camera intrinsics should be
# optimized. Valid options are NONE, ALL, FOCAL_LENGTH, PRINCIPAL_POINTS,
# RADIAL_DISTORTION, ASPECT_RATIO, and SKEW. This parameter can be set using a
# bitmask e.g., FOCAL_LENGTH|RADIAL_DISTORTION
--intrinsics_to_optimize=NONE

# After BA, remove any points that have a reprojection error greater
# than this.
--max_reprojection_error_pixels=6.0

############### Triangulation Options ###############
--min_triangulation_angle_degrees=3.0
--triangulation_reprojection_error_pixels=12.0
--bundle_adjust_tracks=true

############### Logging Options ###############
# Logging verbosity.
--logtostderr
# Increase this number to get more verbose logging.
--v=1