#include <triangulation.h>
Public Member Functions | |
TriangulationParameters (const double _rankTolerance=1.0, const bool _enableEPI=false, double _landmarkDistanceThreshold=-1, double _dynamicOutlierRejectionThreshold=-1, const bool _useLOST=false, const SharedNoiseModel &_noiseModel=nullptr) | |
Public Attributes | |
double | dynamicOutlierRejectionThreshold |
bool | enableEPI |
if set to true, will refine triangulation using LM More... | |
double | landmarkDistanceThreshold |
SharedNoiseModel | noiseModel |
used in the nonlinear triangulation More... | |
double | rankTolerance |
(the rank is the number of singular values of the triangulation matrix which are larger than rankTolerance) More... | |
bool | useLOST |
Friends | |
std::ostream & | operator<< (std::ostream &os, const TriangulationParameters &p) |
Definition at line 558 of file triangulation.h.
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inline |
Constructor
rankTol | tolerance used to check if point triangulation is degenerate |
enableEPI | if true refine triangulation with embedded LM iterations |
landmarkDistanceThreshold | flag as degenerate if point further than this |
dynamicOutlierRejectionThreshold | or if average error larger than this |
noiseModel | noise model to use during nonlinear triangulation |
Definition at line 593 of file triangulation.h.
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friend |
Definition at line 606 of file triangulation.h.
double gtsam::TriangulationParameters::dynamicOutlierRejectionThreshold |
If this is nonnegative the we will check if the average reprojection error is smaller than this threshold after triangulation, otherwise result is flagged as degenerate.
Definition at line 575 of file triangulation.h.
bool gtsam::TriangulationParameters::enableEPI |
if set to true, will refine triangulation using LM
Definition at line 562 of file triangulation.h.
double gtsam::TriangulationParameters::landmarkDistanceThreshold |
if the landmark is triangulated at distance larger than this, result is flagged as degenerate.
Definition at line 568 of file triangulation.h.
SharedNoiseModel gtsam::TriangulationParameters::noiseModel |
used in the nonlinear triangulation
Definition at line 582 of file triangulation.h.
double gtsam::TriangulationParameters::rankTolerance |
(the rank is the number of singular values of the triangulation matrix which are larger than rankTolerance)
threshold to decide whether triangulation is result.degenerate
Definition at line 560 of file triangulation.h.
bool gtsam::TriangulationParameters::useLOST |
if true, will use the LOST algorithm instead of DLT
Definition at line 580 of file triangulation.h.