gtsam 4.1.1
gtsam::ShonanAveragingParameters< d > Struct Template Reference

Detailed Description

template<size_t d>
struct gtsam::ShonanAveragingParameters< d >

Parameters governing optimization etc.

Public Member Functions

 ShonanAveragingParameters (const LevenbergMarquardtParams &lm=LevenbergMarquardtParams::CeresDefaults(), const std::string &method="JACOBI", double optimalityThreshold=-1e-4, double alpha=0.0, double beta=1.0, double gamma=0.0)
LevenbergMarquardtParams getLMParams () const
void setOptimalityThreshold (double value)
double getOptimalityThreshold () const
void setAnchor (size_t index, const Rot &value)
std::pair< size_t, Rot > getAnchor () const
void setAnchorWeight (double value)
double getAnchorWeight () const
void setKarcherWeight (double value)
double getKarcherWeight () const
void setGaugesWeight (double value)
double getGaugesWeight () const
void setUseHuber (bool value)
bool getUseHuber () const
void setCertifyOptimality (bool value)
bool getCertifyOptimality () const
void print (const std::string &s="") const
 Print the parameters and flags used for rotation averaging.

Public Attributes

LevenbergMarquardtParams lm
 LM parameters.
double optimalityThreshold
 threshold used in checkOptimality
Anchor anchor
 pose to use as anchor if not Karcher
double alpha
 weight of anchor-based prior (default 0)
double beta
 weight of Karcher-based prior (default 1)
double gamma
 weight of gauge-fixing factors (default 0)
bool useHuber
 if enabled, the Huber loss is used (default false)
bool certifyOptimality
 if enabled solution optimality is certified (default true)

Public Types

using Rot = typename std::conditional< d==2, Rot2, Rot3 >::type
using Anchor = std::pair< size_t, Rot >

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