Struct LoRansacConfig 

pub struct LoRansacConfig {
    pub k_min: u32,
    pub k_max: u32,
    pub confidence: f64,
    pub tau_outer_sq: f64,
    pub tau_inner_sq: f64,
    pub tau_aw_lm_sq: f64,
    pub lo_max_iterations: u32,
    pub min_inliers: usize,
}

Configuration for LO-RANSAC board pose estimation.

These parameters are tuned for sub-pixel, metrology-grade perception on structured fiducial grids. See the accompanying architectural specification for the mathematical justification behind each constant.

Fields

k_min: u32

Minimum RANSAC iterations before dynamic stopping is permitted. Guarantees the sampler escapes spatially-correlated occlusion clusters (e.g., a cable over 4 adjacent tags) before the stopping rule fires.

k_max: u32

Hard ceiling on RANSAC iterations (worst-case execution time bound). Caps runtime at ~20 µs/frame even on fundamentally degraded images.

confidence: f64

Desired probability of finding at least one clean minimal sample.

tau_outer_sq: f64

Outer inlier threshold, squared (pixels²).

Wide net for the initial consensus gate: a 4-point IPPE model on sub-pixel noisy data can tilt, so this threshold is intentionally generous enough to admit all geometrically consistent tags even under per-tag pose noise before the LO GN step refines things.

tau_inner_sq: f64

Inner inlier threshold, squared (pixels²).

Tight gate applied within the LO Gauss-Newton inner loop. Anything outside ~1 px after GN smoothing is a Hamming alias, chromatic aberration, or physical occlusion — exclude from further GN.

tau_aw_lm_sq: f64

AW-LM inlier threshold, squared (pixels²).

Applied to the LO-verified pose to build the inlier set passed to the final Anisotropic Weighted LM step. This should be generous (≥ the outer threshold) so that AW-LM can exploit the maximum number of geometrically consistent observations; its internal Huber weighting (k = 1.345) robustly downweights any residual outliers.

lo_max_iterations: u32

Maximum iterations for the LO inner loop.

Gauss-Newton converges quadratically; if the basin is not reached within 5 steps the solver is thrashing — terminate early.

min_inliers: usize

Minimum outer inlier count needed to trigger the LO inner loop.

Trait Implementations

impl Clone for LoRansacConfig

fn clone(&self) -> LoRansacConfig

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for LoRansacConfig

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for LoRansacConfig

fn default() -> Self

Returns the “default value” for a type.