gtsam  4.0.0
gtsam::TriangulationParameters Struct Reference

Public Member Functions

 TriangulationParameters (const double _rankTolerance=1.0, const bool _enableEPI=false, double _landmarkDistanceThreshold=-1, double _dynamicOutlierRejectionThreshold=-1)
 Constructor. More...

Public Attributes

double rankTolerance
 threshold to decide whether triangulation is result.degenerate More...
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.


class boost::serialization::access
 Serialization function.
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 


rankToltolerance used to check if point triangulation is degenerate
enableEPIif true refine triangulation with embedded LM iterations
landmarkDistanceThresholdflag as degenerate if point further than this
dynamicOutlierRejectionThresholdor if average error larger than this

Member Data Documentation

◆ rankTolerance

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: