gtsam::TriangulationParameters Struct Reference

#include <triangulation.h>

Public Member Functions
	TriangulationParameters (const double _rankTolerance=1.0, const bool _enableEPI=false, double _landmarkDistanceThreshold=-1, double _dynamicOutlierRejectionThreshold=-1)

Public Attributes
double	dynamicOutlierRejectionThreshold
bool	enableEPI
	if set to true, will refine triangulation using LM More...
double	landmarkDistanceThreshold
double	rankTolerance
	(the rank is the number of singular values of the triangulation matrix which are larger than rankTolerance) More...

Private Member Functions
template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int version)

Friends
class	boost::serialization::access
	Serialization function. More...
std::ostream &	operator<< (std::ostream &os, const TriangulationParameters &p)

Detailed Description

Definition at line 308 of file triangulation.h.

Constructor & Destructor Documentation

gtsam::TriangulationParameters::TriangulationParameters ( const double  _rankTolerance = 1.0, const bool  _enableEPI = false, double  _landmarkDistanceThreshold = -1, double  _dynamicOutlierRejectionThreshold = -1  )

inline

Constructor

Parameters

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

Definition at line 335 of file triangulation.h.

Member Function Documentation

template<class ARCHIVE >

void gtsam::TriangulationParameters::serialize ( ARCHIVE &  ar, const unsigned int  version  )

inlineprivate

Definition at line 360 of file triangulation.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function.

Definition at line 358 of file triangulation.h.

std::ostream& operator<< ( std::ostream &  os, const TriangulationParameters &  p  )

friend

Definition at line 344 of file triangulation.h.

Member Data Documentation

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 325 of file triangulation.h.

bool gtsam::TriangulationParameters::enableEPI

if set to true, will refine triangulation using LM

Definition at line 312 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 318 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 310 of file triangulation.h.

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The documentation for this struct was generated from the following file:

• triangulation.h