Make global positioning scale and weighting policies configurable - #4763
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Zador-Pataki wants to merge 9 commits into
Open
Zador-Pataki wants to merge 9 commits into
Zador-Pataki wants to merge 9 commits into
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B1ueber2y
reviewed
Sep 21, 2026
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@B1ueber2y thanks! I addressed everything and clarified the remaining open question. |
B1ueber2y
approved these changes
Sep 22, 2026
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Motivation
Global positioning hard-codes scale-gauge fixing and uncalibrated-camera weighting, and couples scale initialization to point randomization. These choices restrict downstream research, for example when extending global positioning with additional residuals.
Changes
generate_scalestoinitialize_scales_from_geometry.uncalibrated_observation_weight(default0.5).1.0gives calibrated and uncalibrated observations equal weight.fix_first_scale(defaulttrue).