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
Parameters governing how triangulation result is treated
bool	throwCheirality
	If true, re-throws Cheirality exceptions (default: false) More...
bool	verboseCheirality

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

Friends
class	boost::serialization::access
	Serialization function. More...

Detailed Description

Definition at line 42 of file SmartFactorParams.h.

Constructor & Destructor Documentation

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.

virtual gtsam::SmartProjectionParams::~SmartProjectionParams ( )

inlinevirtual

Definition at line 68 of file SmartFactorParams.h.

Member Function Documentation

DegeneracyMode gtsam::SmartProjectionParams::getDegeneracyMode ( ) const

inline

Definition at line 81 of file SmartFactorParams.h.

LinearizationMode gtsam::SmartProjectionParams::getLinearizationMode ( ) const

inline

Definition at line 78 of file SmartFactorParams.h.

double gtsam::SmartProjectionParams::getRetriangulationThreshold ( ) const

inline

Definition at line 93 of file SmartFactorParams.h.

bool gtsam::SmartProjectionParams::getThrowCheirality ( ) const

inline

Definition at line 90 of file SmartFactorParams.h.

TriangulationParameters gtsam::SmartProjectionParams::getTriangulationParameters ( ) const

inline

Definition at line 84 of file SmartFactorParams.h.

bool gtsam::SmartProjectionParams::getVerboseCheirality ( ) const

inline

Definition at line 87 of file SmartFactorParams.h.

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

inline

Definition at line 71 of file SmartFactorParams.h.

template<class ARCHIVE >

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

inlineprivate

Definition at line 124 of file SmartFactorParams.h.

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

inline

Definition at line 100 of file SmartFactorParams.h.

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

inline

Definition at line 115 of file SmartFactorParams.h.

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

inline

Definition at line 109 of file SmartFactorParams.h.

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

inline

Definition at line 112 of file SmartFactorParams.h.

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

inline

Definition at line 97 of file SmartFactorParams.h.

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

inline

Definition at line 106 of file SmartFactorParams.h.

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

inline

Definition at line 103 of file SmartFactorParams.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function.

Definition at line 122 of file SmartFactorParams.h.

Member Data Documentation

DegeneracyMode gtsam::SmartProjectionParams::degeneracyMode

How to linearize the factor.

Definition at line 45 of file SmartFactorParams.h.

LinearizationMode gtsam::SmartProjectionParams::linearizationMode

How to linearize the factor.

Definition at line 44 of file SmartFactorParams.h.

double gtsam::SmartProjectionParams::retriangulationThreshold

threshold to decide whether to re-triangulate

Definition at line 50 of file SmartFactorParams.h.

bool gtsam::SmartProjectionParams::throwCheirality

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

Definition at line 55 of file SmartFactorParams.h.

TriangulationParameters gtsam::SmartProjectionParams::triangulation

Definition at line 49 of file SmartFactorParams.h.

bool gtsam::SmartProjectionParams::verboseCheirality

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

Definition at line 56 of file SmartFactorParams.h.

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

• SmartFactorParams.h