Public Member Functions | Public Attributes | Friends | List of all members
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, 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...
 

Friends

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

Detailed Description

Definition at line 558 of file triangulation.h.

Constructor & Destructor Documentation

◆ TriangulationParameters()

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

Constructor

Parameters
rankToltolerance used to check if point triangulation is degenerate
enableEPIif true refine triangulation with embedded LM iterations
landmarkDistanceThresholdflag as degenerate if point further than this
dynamicOutlierRejectionThresholdor if average error larger than this
noiseModelnoise model to use during nonlinear triangulation

Definition at line 588 of file triangulation.h.

Friends And Related Function Documentation

◆ operator<<

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

Definition at line 599 of file triangulation.h.

Member Data Documentation

◆ dynamicOutlierRejectionThreshold

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.

◆ enableEPI

bool gtsam::TriangulationParameters::enableEPI

if set to true, will refine triangulation using LM

Definition at line 562 of file triangulation.h.

◆ landmarkDistanceThreshold

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.

◆ noiseModel

SharedNoiseModel gtsam::TriangulationParameters::noiseModel

used in the nonlinear triangulation

Definition at line 577 of file triangulation.h.

◆ rankTolerance

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.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:15