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import logging
from siclib.models.optimization.lm_optimizer import LMOptimizer
logger = logging.getLogger(__name__)
# flake8: noqa
# mypy: ignore-errors
class InferenceOptimizer(LMOptimizer):
default_conf = {
# Camera model parameters
"camera_model": "pinhole", # {"pinhole", "simple_radial", "simple_spherical"}
"shared_intrinsics": False, # share focal length across all images in batch
"estimate_gravity": True,
"estimate_focal": True,
"estimate_k1": True, # will be ignored if camera_model is pinhole
# LM optimizer parameters
"num_steps": 30,
"lambda_": 0.1,
"fix_lambda": False,
"early_stop": True,
"atol": 1e-8,
"rtol": 1e-8,
"use_spherical_manifold": True, # use spherical manifold for gravity optimization
"use_log_focal": True, # use log focal length for optimization
# Loss function parameters
"loss_fn": "huber_loss", # {"squared_loss", "huber_loss"}
"up_loss_fn_scale": 1e-2,
"lat_loss_fn_scale": 1e-2,
"init_conf": {"name": "trivial"}, # pass config of other models to use as initializer
# Misc
"loss_weight": 1,
"verbose": False,
}
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