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:

Public Member Functions