Public Member Functions | Public Attributes | List of all members
gtsam::SmartProjectionParams Struct Reference

#include <SmartFactorParams.h>

Public Member Functions

DegeneracyMode getDegeneracyMode () const
 
LinearizationMode getLinearizationMode () const
 
double getRetriangulationThreshold () const
 
bool getThrowCheirality () const
 
TriangulationParameters getTriangulationParameters () const
 
bool getVerboseCheirality () const
 
void print (const std::string &str="") const
 
void setDegeneracyMode (DegeneracyMode degMode)
 
void setDynamicOutlierRejectionThreshold (double dynOutRejectionThreshold)
 
void setEnableEPI (bool enableEPI)
 
void setLandmarkDistanceThreshold (double landmarkDistanceThreshold)
 
void setLinearizationMode (LinearizationMode linMode)
 
void setRankTolerance (double rankTol)
 
void setRetriangulationThreshold (double retriangulationTh)
 
 SmartProjectionParams (LinearizationMode linMode=HESSIAN, DegeneracyMode degMode=IGNORE_DEGENERACY, bool throwCheirality=false, bool verboseCheirality=false, double retriangulationTh=1e-5)
 
virtual ~SmartProjectionParams ()
 

Public Attributes

DegeneracyMode degeneracyMode
 How to linearize the factor. More...
 
LinearizationMode linearizationMode
 How to linearize the factor. More...
 
Parameters governing the triangulation
TriangulationParameters triangulation
 
double retriangulationThreshold
 threshold to decide whether to re-triangulate More...
 
Parameters governing how triangulation result is treated
bool throwCheirality
 If true, re-throws Cheirality exceptions (default: false) More...
 
bool verboseCheirality
 If true, prints text for Cheirality exceptions (default: false) More...
 

Detailed Description

Definition at line 42 of file SmartFactorParams.h.

Constructor & Destructor Documentation

◆ SmartProjectionParams()

gtsam::SmartProjectionParams::SmartProjectionParams ( LinearizationMode  linMode = HESSIAN,
DegeneracyMode  degMode = IGNORE_DEGENERACY,
bool  throwCheirality = false,
bool  verboseCheirality = false,
double  retriangulationTh = 1e-5 
)
inline

Definition at line 60 of file SmartFactorParams.h.

◆ ~SmartProjectionParams()

virtual gtsam::SmartProjectionParams::~SmartProjectionParams ( )
inlinevirtual

Definition at line 68 of file SmartFactorParams.h.

Member Function Documentation

◆ getDegeneracyMode()

DegeneracyMode gtsam::SmartProjectionParams::getDegeneracyMode ( ) const
inline

Definition at line 81 of file SmartFactorParams.h.

◆ getLinearizationMode()

LinearizationMode gtsam::SmartProjectionParams::getLinearizationMode ( ) const
inline

Definition at line 78 of file SmartFactorParams.h.

◆ getRetriangulationThreshold()

double gtsam::SmartProjectionParams::getRetriangulationThreshold ( ) const
inline

Definition at line 93 of file SmartFactorParams.h.

◆ getThrowCheirality()

bool gtsam::SmartProjectionParams::getThrowCheirality ( ) const
inline

Definition at line 90 of file SmartFactorParams.h.

◆ getTriangulationParameters()

TriangulationParameters gtsam::SmartProjectionParams::getTriangulationParameters ( ) const
inline

Definition at line 84 of file SmartFactorParams.h.

◆ getVerboseCheirality()

bool gtsam::SmartProjectionParams::getVerboseCheirality ( ) const
inline

Definition at line 87 of file SmartFactorParams.h.

◆ print()

void gtsam::SmartProjectionParams::print ( const std::string &  str = "") const
inline

Definition at line 71 of file SmartFactorParams.h.

◆ setDegeneracyMode()

void gtsam::SmartProjectionParams::setDegeneracyMode ( DegeneracyMode  degMode)
inline

Definition at line 100 of file SmartFactorParams.h.

◆ setDynamicOutlierRejectionThreshold()

void gtsam::SmartProjectionParams::setDynamicOutlierRejectionThreshold ( double  dynOutRejectionThreshold)
inline

Definition at line 115 of file SmartFactorParams.h.

◆ setEnableEPI()

void gtsam::SmartProjectionParams::setEnableEPI ( bool  enableEPI)
inline

Definition at line 109 of file SmartFactorParams.h.

◆ setLandmarkDistanceThreshold()

void gtsam::SmartProjectionParams::setLandmarkDistanceThreshold ( double  landmarkDistanceThreshold)
inline

Definition at line 112 of file SmartFactorParams.h.

◆ setLinearizationMode()

void gtsam::SmartProjectionParams::setLinearizationMode ( LinearizationMode  linMode)
inline

Definition at line 97 of file SmartFactorParams.h.

◆ setRankTolerance()

void gtsam::SmartProjectionParams::setRankTolerance ( double  rankTol)
inline

Definition at line 106 of file SmartFactorParams.h.

◆ setRetriangulationThreshold()

void gtsam::SmartProjectionParams::setRetriangulationThreshold ( double  retriangulationTh)
inline

Definition at line 103 of file SmartFactorParams.h.

Member Data Documentation

◆ degeneracyMode

DegeneracyMode gtsam::SmartProjectionParams::degeneracyMode

How to linearize the factor.

Definition at line 45 of file SmartFactorParams.h.

◆ linearizationMode

LinearizationMode gtsam::SmartProjectionParams::linearizationMode

How to linearize the factor.

Definition at line 44 of file SmartFactorParams.h.

◆ retriangulationThreshold

double gtsam::SmartProjectionParams::retriangulationThreshold

threshold to decide whether to re-triangulate

Definition at line 50 of file SmartFactorParams.h.

◆ throwCheirality

bool gtsam::SmartProjectionParams::throwCheirality

If true, re-throws Cheirality exceptions (default: false)

Definition at line 55 of file SmartFactorParams.h.

◆ triangulation

TriangulationParameters gtsam::SmartProjectionParams::triangulation

Definition at line 49 of file SmartFactorParams.h.

◆ verboseCheirality

bool gtsam::SmartProjectionParams::verboseCheirality

If true, prints text for Cheirality exceptions (default: false)

Definition at line 56 of file SmartFactorParams.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:09