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)
	Constructor.

Public Attributes
double	rankTolerance
	threshold to decide whether triangulation is result.degenerate
bool	enableEPI
	if set to true, will refine triangulation using LM
double	landmarkDistanceThreshold
	if the landmark is triangulated at distance larger than this, result is flagged as degenerate.
double	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.
bool	useLOST
	if true, will use the LOST algorithm instead of DLT
SharedNoiseModel	noiseModel
	used in the nonlinear triangulation

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

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

double gtsam::TriangulationParameters::rankTolerance

threshold to decide whether triangulation is result.degenerate

(the rank is the number of singular values of the triangulation matrix which are larger than rankTolerance)

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