gtsam  4.1.0
gtsam
gtsam::SmartProjectionParams Struct Reference

Public Member Functions

 SmartProjectionParams (LinearizationMode linMode=HESSIAN, DegeneracyMode degMode=IGNORE_DEGENERACY, bool throwCheirality=false, bool verboseCheirality=false, double retriangulationTh=1e-5)
 
void print (const std::string &str="") const
 
LinearizationMode getLinearizationMode () const
 
DegeneracyMode getDegeneracyMode () const
 
TriangulationParameters getTriangulationParameters () const
 
bool getVerboseCheirality () const
 
bool getThrowCheirality () const
 
double getRetriangulationThreshold () const
 
void setLinearizationMode (LinearizationMode linMode)
 
void setDegeneracyMode (DegeneracyMode degMode)
 
void setRetriangulationThreshold (double retriangulationTh)
 
void setRankTolerance (double rankTol)
 
void setEnableEPI (bool enableEPI)
 
void setLandmarkDistanceThreshold (double landmarkDistanceThreshold)
 
void setDynamicOutlierRejectionThreshold (double dynOutRejectionThreshold)
 

Public Attributes

LinearizationMode linearizationMode
 How to linearize the factor.
 
DegeneracyMode degeneracyMode
 How to linearize the factor.
 
Parameters governing the triangulation
TriangulationParameters triangulation
 
double retriangulationThreshold
 threshold to decide whether to re-triangulate
 
Parameters governing how triangulation result is treated
bool throwCheirality
 If true, re-throws Cheirality exceptions (default: false)
 
bool verboseCheirality
 If true, prints text for Cheirality exceptions (default: false)
 

Friends

class boost::serialization::access
 Serialization function.
 

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