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