Struct which stores all our feature initializer options. More...
#include <FeatureInitializerOptions.h>
Public Member Functions | |
| void | print (const std::shared_ptr< ov_core::YamlParser > &parser=nullptr) |
| Nice print function of what parameters we have loaded. More... | |
Public Attributes | |
| double | init_lamda = 1e-3 |
| Init lambda for Levenberg-Marquardt optimization. More... | |
| double | lam_mult = 10 |
| Multiplier to increase/decrease lambda. More... | |
| double | max_baseline = 40 |
| Max baseline ratio to accept triangulated features. More... | |
| double | max_cond_number = 10000 |
| Max condition number of linear triangulation matrix accept triangulated features. More... | |
| double | max_dist = 60 |
| Minimum distance to accept triangulated features. More... | |
| double | max_lamda = 1e10 |
| Max lambda for Levenberg-Marquardt optimization. More... | |
| int | max_runs = 5 |
| Max runs for Levenberg-Marquardt. More... | |
| double | min_dcost = 1e-6 |
| Cutoff for cost decrement to consider as converged. More... | |
| double | min_dist = 0.10 |
| Minimum distance to accept triangulated features. More... | |
| double | min_dx = 1e-6 |
| Cutoff for dx increment to consider as converged. More... | |
| bool | refine_features = true |
| If we should perform Levenberg-Marquardt refinment. More... | |
| bool | triangulate_1d = false |
| If we should perform 1d triangulation instead of 3d. More... | |
Struct which stores all our feature initializer options.
Definition at line 33 of file FeatureInitializerOptions.h.
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inline |
Nice print function of what parameters we have loaded.
Definition at line 72 of file FeatureInitializerOptions.h.
| double ov_core::FeatureInitializerOptions::init_lamda = 1e-3 |
Init lambda for Levenberg-Marquardt optimization.
Definition at line 45 of file FeatureInitializerOptions.h.
| double ov_core::FeatureInitializerOptions::lam_mult = 10 |
Multiplier to increase/decrease lambda.
Definition at line 57 of file FeatureInitializerOptions.h.
| double ov_core::FeatureInitializerOptions::max_baseline = 40 |
Max baseline ratio to accept triangulated features.
Definition at line 66 of file FeatureInitializerOptions.h.
| double ov_core::FeatureInitializerOptions::max_cond_number = 10000 |
Max condition number of linear triangulation matrix accept triangulated features.
Definition at line 69 of file FeatureInitializerOptions.h.
| double ov_core::FeatureInitializerOptions::max_dist = 60 |
Minimum distance to accept triangulated features.
Definition at line 63 of file FeatureInitializerOptions.h.
| double ov_core::FeatureInitializerOptions::max_lamda = 1e10 |
Max lambda for Levenberg-Marquardt optimization.
Definition at line 48 of file FeatureInitializerOptions.h.
| int ov_core::FeatureInitializerOptions::max_runs = 5 |
Max runs for Levenberg-Marquardt.
Definition at line 42 of file FeatureInitializerOptions.h.
| double ov_core::FeatureInitializerOptions::min_dcost = 1e-6 |
Cutoff for cost decrement to consider as converged.
Definition at line 54 of file FeatureInitializerOptions.h.
| double ov_core::FeatureInitializerOptions::min_dist = 0.10 |
Minimum distance to accept triangulated features.
Definition at line 60 of file FeatureInitializerOptions.h.
| double ov_core::FeatureInitializerOptions::min_dx = 1e-6 |
Cutoff for dx increment to consider as converged.
Definition at line 51 of file FeatureInitializerOptions.h.
| bool ov_core::FeatureInitializerOptions::refine_features = true |
If we should perform Levenberg-Marquardt refinment.
Definition at line 39 of file FeatureInitializerOptions.h.
| bool ov_core::FeatureInitializerOptions::triangulate_1d = false |
If we should perform 1d triangulation instead of 3d.
Definition at line 36 of file FeatureInitializerOptions.h.