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71 void print(
const std::string&
str =
"")
const {
121 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
122 friend class boost::serialization::access;
124 template<
class ARCHIVE>
125 void serialize(ARCHIVE & ar,
const unsigned int version) {
TriangulationParameters triangulation
LinearizationMode getLinearizationMode() const
bool verboseCheirality
If true, prints text for Cheirality exceptions (default: false)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
double dynamicOutlierRejectionThreshold
void setRetriangulationThreshold(double retriangulationTh)
void setLandmarkDistanceThreshold(double landmarkDistanceThreshold)
bool enableEPI
if set to true, will refine triangulation using LM
static const double rankTol
Functions for triangulation.
DegeneracyMode degeneracyMode
How to linearize the factor.
double rankTolerance
(the rank is the number of singular values of the triangulation matrix which are larger than rankTole...
void setDynamicOutlierRejectionThreshold(double dynOutRejectionThreshold)
void setDegeneracyMode(DegeneracyMode degMode)
void setRankTolerance(double rankTol)
LinearizationMode linearizationMode
How to linearize the factor.
TriangulationParameters getTriangulationParameters() const
LinearizationMode
Linearization mode: what factor to linearize to.
bool getVerboseCheirality() const
void print(const std::string &str="") const
double getRetriangulationThreshold() const
virtual ~SmartProjectionParams()
double landmarkDistanceThreshold
void setEnableEPI(bool enableEPI)
bool throwCheirality
If true, re-throws Cheirality exceptions (default: false)
double retriangulationThreshold
threshold to decide whether to re-triangulate
SmartProjectionParams(LinearizationMode linMode=HESSIAN, DegeneracyMode degMode=IGNORE_DEGENERACY, bool throwCheirality=false, bool verboseCheirality=false, double retriangulationTh=1e-5)
void setLinearizationMode(LinearizationMode linMode)
DegeneracyMode
How to manage degeneracy.
bool getThrowCheirality() const
DegeneracyMode getDegeneracyMode() const
gtsam
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autogenerated on Fri Nov 1 2024 03:35:28