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...

Detailed Description

template<size_t d>
struct gtsam::ShonanAveragingParameters< d >

Parameters governing optimization etc.

Definition at line 46 of file ShonanAveraging.h.

Member Typedef Documentation

◆ Anchor

template<size_t d>

using gtsam::ShonanAveragingParameters< d >::Anchor = std::pair<size_t, Rot>

Definition at line 49 of file ShonanAveraging.h.

◆ Rot

template<size_t d>

using gtsam::ShonanAveragingParameters< d >::Rot = typename std::conditional<d == 2, Rot2, Rot3>::type

Definition at line 48 of file ShonanAveraging.h.

Constructor & Destructor Documentation

◆ ShonanAveragingParameters()

template<size_t d>

gtsam::ShonanAveragingParameters< d >::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`
	)

Definition at line 51 of file ShonanAveraging.cpp.

Member Function Documentation

◆ getAnchor()

template<size_t d>

std::pair<size_t, Rot> gtsam::ShonanAveragingParameters< d >::getAnchor ( ) const

inline

Definition at line 76 of file ShonanAveraging.h.

◆ getAnchorWeight()

template<size_t d>

double gtsam::ShonanAveragingParameters< d >::getAnchorWeight ( ) const

inline

Definition at line 79 of file ShonanAveraging.h.

◆ getCertifyOptimality()

template<size_t d>

bool gtsam::ShonanAveragingParameters< d >::getCertifyOptimality ( ) const

inline

Definition at line 91 of file ShonanAveraging.h.

◆ getGaugesWeight()

template<size_t d>

double gtsam::ShonanAveragingParameters< d >::getGaugesWeight ( ) const

inline

Definition at line 85 of file ShonanAveraging.h.

◆ getKarcherWeight()

template<size_t d>

double gtsam::ShonanAveragingParameters< d >::getKarcherWeight ( ) const

inline

Definition at line 82 of file ShonanAveraging.h.

◆ getLMParams()

template<size_t d>

LevenbergMarquardtParams gtsam::ShonanAveragingParameters< d >::getLMParams ( ) const

inline

Definition at line 70 of file ShonanAveraging.h.

◆ getOptimalityThreshold()

template<size_t d>

double gtsam::ShonanAveragingParameters< d >::getOptimalityThreshold ( ) const

inline

Definition at line 73 of file ShonanAveraging.h.

◆ getUseHuber()

template<size_t d>

bool gtsam::ShonanAveragingParameters< d >::getUseHuber ( ) const

inline

Definition at line 88 of file ShonanAveraging.h.

◆ print()

template<size_t d>

void gtsam::ShonanAveragingParameters< d >::print ( const std::string & s = "" ) const

inline

Print the parameters and flags used for rotation averaging.

Definition at line 94 of file ShonanAveraging.h.

◆ setAnchor()

template<size_t d>

void gtsam::ShonanAveragingParameters< d >::setAnchor	(	size_t	index,
		const Rot &	value
	)

inline

Definition at line 75 of file ShonanAveraging.h.

◆ setAnchorWeight()

template<size_t d>

void gtsam::ShonanAveragingParameters< d >::setAnchorWeight ( double value )

inline

Definition at line 78 of file ShonanAveraging.h.

◆ setCertifyOptimality()

template<size_t d>

void gtsam::ShonanAveragingParameters< d >::setCertifyOptimality ( bool value )

inline

Definition at line 90 of file ShonanAveraging.h.

◆ setGaugesWeight()

template<size_t d>

void gtsam::ShonanAveragingParameters< d >::setGaugesWeight ( double value )

inline

Definition at line 84 of file ShonanAveraging.h.

◆ setKarcherWeight()

template<size_t d>

void gtsam::ShonanAveragingParameters< d >::setKarcherWeight ( double value )

inline

Definition at line 81 of file ShonanAveraging.h.

◆ setOptimalityThreshold()

template<size_t d>

void gtsam::ShonanAveragingParameters< d >::setOptimalityThreshold ( double value )

inline

Definition at line 72 of file ShonanAveraging.h.

◆ setUseHuber()

template<size_t d>

void gtsam::ShonanAveragingParameters< d >::setUseHuber ( bool value )

inline

Definition at line 87 of file ShonanAveraging.h.

Member Data Documentation

◆ alpha

template<size_t d>

double gtsam::ShonanAveragingParameters< d >::alpha

weight of anchor-based prior (default 0)

Definition at line 55 of file ShonanAveraging.h.

◆ anchor

template<size_t d>

Anchor gtsam::ShonanAveragingParameters< d >::anchor

pose to use as anchor if not Karcher

Definition at line 54 of file ShonanAveraging.h.

◆ beta

template<size_t d>

double gtsam::ShonanAveragingParameters< d >::beta

weight of Karcher-based prior (default 1)

Definition at line 56 of file ShonanAveraging.h.

◆ certifyOptimality

template<size_t d>

bool gtsam::ShonanAveragingParameters< d >::certifyOptimality

if enabled solution optimality is certified (default true)

Definition at line 61 of file ShonanAveraging.h.

◆ gamma

template<size_t d>

double gtsam::ShonanAveragingParameters< d >::gamma

weight of gauge-fixing factors (default 0)

Definition at line 57 of file ShonanAveraging.h.

◆ lm

template<size_t d>

LevenbergMarquardtParams gtsam::ShonanAveragingParameters< d >::lm

LM parameters.

Definition at line 52 of file ShonanAveraging.h.

◆ optimalityThreshold

template<size_t d>

double gtsam::ShonanAveragingParameters< d >::optimalityThreshold

threshold used in checkOptimality

Definition at line 53 of file ShonanAveraging.h.

◆ useHuber

template<size_t d>

bool gtsam::ShonanAveragingParameters< d >::useHuber

if enabled, the Huber loss is used (default false)

Definition at line 59 of file ShonanAveraging.h.

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

Public Types

Public Member Functions

Public Attributes

Detailed Description

template<size_t d> struct gtsam::ShonanAveragingParameters< d >

Member Typedef Documentation

◆ Anchor

◆ Rot

Constructor & Destructor Documentation

◆ ShonanAveragingParameters()

Member Function Documentation

◆ getAnchor()

◆ getAnchorWeight()

◆ getCertifyOptimality()

◆ getGaugesWeight()

◆ getKarcherWeight()

◆ getLMParams()

◆ getOptimalityThreshold()

◆ getUseHuber()

◆ print()

◆ setAnchor()

◆ setAnchorWeight()

◆ setCertifyOptimality()

◆ setGaugesWeight()

◆ setKarcherWeight()

◆ setOptimalityThreshold()

◆ setUseHuber()

Member Data Documentation

◆ alpha

◆ anchor

◆ beta

◆ certifyOptimality

◆ gamma

◆ lm

◆ optimalityThreshold

◆ useHuber

template<size_t d>
struct gtsam::ShonanAveragingParameters< d >