#include <triangulation.h>

Public Member Functions
	TriangulationParameters (const double _rankTolerance=1.0, const bool _enableEPI=false, double _landmarkDistanceThreshold=-1, double _dynamicOutlierRejectionThreshold=-1, const bool _useLOST=false, 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...

bool	useLOST

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

Detailed Description

Definition at line 562 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 bool	_useLOST = `false`,
		const SharedNoiseModel &	_noiseModel = `nullptr`
	)

inline

Constructor

Parameters

rankTol	tolerance used to check if point triangulation is degenerate
enableEPI	if true refine triangulation with embedded LM iterations
landmarkDistanceThreshold	flag as degenerate if point further than this
dynamicOutlierRejectionThreshold	or if average error larger than this
noiseModel	noise model to use during nonlinear triangulation

Definition at line 597 of file triangulation.h.

Friends And Related Function Documentation

◆ operator<<

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

friend

Definition at line 610 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 579 of file triangulation.h.

◆ enableEPI

bool gtsam::TriangulationParameters::enableEPI

if set to true, will refine triangulation using LM

Definition at line 566 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 572 of file triangulation.h.

◆ noiseModel

SharedNoiseModel gtsam::TriangulationParameters::noiseModel

used in the nonlinear triangulation

Definition at line 586 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 564 of file triangulation.h.

◆ useLOST

bool gtsam::TriangulationParameters::useLOST

if true, will use the LOST algorithm instead of DLT

Definition at line 584 of file triangulation.h.

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

triangulation.h

Public Member Functions

Public Attributes

Friends