############### 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
--images=
--output_matches_file=

# If a matches file has already been created, set the filepath here. This avoids
# having to recompute all features and matches.
--matches_file=

# The calibration file indicates possibly known calibration e.g, from EXIF or
# explicit calibration. Theia attempts to extract EXIF focal lengths if calibration
# is not supplied for a given image.
--calibration_file=
--output_reconstruction=

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

############### Feature Extraction ###############
--descriptor=SIFT
# Sift blob detector parameters.
--sift_num_octaves=-1
--sift_num_levels=3
--sift_first_octave=-1
--sift_edge_threshold=10.0
--sift_peak_threshold=1.7
# Disable if regular sift descriptor is desired.
--root_sift=true

############### Matching Options ###############
# Perform matching out-of-core. If set to true, the matching_working_directory
# must be set to a valid, writable directory (the directory will be created if
# it does not exits) Set to false to perform all-in-memory matching.
--match_out_of_core=true

# During feature matching, features are saved to disk so that out-of-core
# matching may be performed. This directory specifies which directory those
# features should be saved to.
--matching_working_directory=

# During feature matching we utilize an LRU cache for out-of-core matching. The size
# of that cache (in terms of number of images) is controlled by this parameter. The
# higher this number the more memory is required.
--matching_max_num_images_in_cache=128

--matching_strategy=CASCADE_HASHING
--lowes_ratio=0.75
--min_num_inliers_for_valid_match=30
--max_sampson_error_for_verified_match=4.0
--bundle_adjust_two_view_geometry=true
--keep_only_symmetric_matches=true

############### General SfM Options ###############
--reconstruction_estimator=GLOBAL
--max_track_length=50
--reconstruct_largest_connected_component=false

# Set to true if all views were captured with the same camera. If true, then a
# single set of camera intrinsic parameters will be used for all views in the
# reconstruction.
--shared_calibration=false

# If set to true, only views with known calibration are reconstructed.
--only_calibrated_views=false

############### Global SfM Options ###############
--global_position_estimator=NONLINEAR
--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

# 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 ###############
--absolute_pose_reprojection_error_threshold=8
--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=NONE

# 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 (with no spaces) 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=4.0

############### Triangulation Options ###############
--min_triangulation_angle_degrees=4.0
--triangulation_reprojection_error_pixels=15.0
--bundle_adjust_tracks=true

############### Logging Options ###############
# Logging verbosity.
--logtostderr
# Increase this number to get more verbose logging.
--v=3