Parameters governing optimization etc. More...
#include <ShonanAveraging.h>
Public Types | |
using | Anchor = std::pair< size_t, Rot > |
using | Rot = typename std::conditional< d==2, Rot2, Rot3 >::type |
Public Member Functions | |
std::pair< size_t, Rot > | getAnchor () const |
double | getAnchorWeight () const |
bool | getCertifyOptimality () const |
double | getGaugesWeight () const |
double | getKarcherWeight () const |
LevenbergMarquardtParams | getLMParams () const |
double | getOptimalityThreshold () const |
bool | getUseHuber () const |
void | print (const std::string &s="") const |
Print the parameters and flags used for rotation averaging. More... | |
void | setAnchor (size_t index, const Rot &value) |
void | setAnchorWeight (double value) |
void | setCertifyOptimality (bool value) |
void | setGaugesWeight (double value) |
void | setKarcherWeight (double value) |
void | setOptimalityThreshold (double value) |
void | setUseHuber (bool value) |
ShonanAveragingParameters (const LevenbergMarquardtParams &lm=LevenbergMarquardtParams::CeresDefaults(), const std::string &method="JACOBI", double optimalityThreshold=-1e-4, double alpha=0.0, double beta=1.0, double gamma=0.0) | |
Public Attributes | |
double | alpha |
weight of anchor-based prior (default 0) More... | |
Anchor | anchor |
pose to use as anchor if not Karcher More... | |
double | beta |
weight of Karcher-based prior (default 1) More... | |
bool | certifyOptimality |
if enabled solution optimality is certified (default true) More... | |
double | gamma |
LevenbergMarquardtParams | lm |
LM parameters. More... | |
double | optimalityThreshold |
threshold used in checkOptimality More... | |
bool | useHuber |
if enabled, the Huber loss is used (default false) More... | |
Parameters governing optimization etc.
Definition at line 46 of file ShonanAveraging.h.
using gtsam::ShonanAveragingParameters< d >::Anchor = std::pair<size_t, Rot> |
Definition at line 49 of file ShonanAveraging.h.
using gtsam::ShonanAveragingParameters< d >::Rot = typename std::conditional<d == 2, Rot2, Rot3>::type |
Definition at line 48 of file ShonanAveraging.h.
gtsam::ShonanAveragingParameters< d >::ShonanAveragingParameters | ( | const LevenbergMarquardtParams & | lm = LevenbergMarquardtParams::CeresDefaults() , |
const std::string & | method = "JACOBI" , |
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double | optimalityThreshold = -1e-4 , |
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double | alpha = 0.0 , |
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double | beta = 1.0 , |
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double | gamma = 0.0 |
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Definition at line 50 of file ShonanAveraging.cpp.
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Definition at line 76 of file ShonanAveraging.h.
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Definition at line 79 of file ShonanAveraging.h.
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Definition at line 91 of file ShonanAveraging.h.
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Definition at line 85 of file ShonanAveraging.h.
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Definition at line 82 of file ShonanAveraging.h.
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Definition at line 70 of file ShonanAveraging.h.
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Definition at line 73 of file ShonanAveraging.h.
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Definition at line 88 of file ShonanAveraging.h.
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Print the parameters and flags used for rotation averaging.
Definition at line 94 of file ShonanAveraging.h.
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Definition at line 75 of file ShonanAveraging.h.
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Definition at line 78 of file ShonanAveraging.h.
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Definition at line 90 of file ShonanAveraging.h.
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Definition at line 84 of file ShonanAveraging.h.
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Definition at line 81 of file ShonanAveraging.h.
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Definition at line 72 of file ShonanAveraging.h.
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Definition at line 87 of file ShonanAveraging.h.
double gtsam::ShonanAveragingParameters< d >::alpha |
weight of anchor-based prior (default 0)
Definition at line 55 of file ShonanAveraging.h.
Anchor gtsam::ShonanAveragingParameters< d >::anchor |
pose to use as anchor if not Karcher
Definition at line 54 of file ShonanAveraging.h.
double gtsam::ShonanAveragingParameters< d >::beta |
weight of Karcher-based prior (default 1)
Definition at line 56 of file ShonanAveraging.h.
bool gtsam::ShonanAveragingParameters< d >::certifyOptimality |
if enabled solution optimality is certified (default true)
Definition at line 61 of file ShonanAveraging.h.
double gtsam::ShonanAveragingParameters< d >::gamma |
weight of gauge-fixing factors (default 0)
Definition at line 57 of file ShonanAveraging.h.
LevenbergMarquardtParams gtsam::ShonanAveragingParameters< d >::lm |
LM parameters.
Definition at line 52 of file ShonanAveraging.h.
double gtsam::ShonanAveragingParameters< d >::optimalityThreshold |
threshold used in checkOptimality
Definition at line 53 of file ShonanAveraging.h.
bool gtsam::ShonanAveragingParameters< d >::useHuber |
if enabled, the Huber loss is used (default false)
Definition at line 59 of file ShonanAveraging.h.