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)

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

Public Member Functions

Public Attributes