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