Public Member Functions
	TriangulationParameters (const double _rankTolerance=1.0, const bool _enableEPI=false, double _landmarkDistanceThreshold=-1, double _dynamicOutlierRejectionThreshold=-1, const SharedNoiseModel &_noiseModel=nullptr)

Public Attributes
double	rankTolerance
	(the rank is the number of singular values of the triangulation matrix which are larger than rankTolerance) More...

bool	enableEPI
	if set to true, will refine triangulation using LM

double	landmarkDistanceThreshold

double	dynamicOutlierRejectionThreshold

SharedNoiseModel	noiseModel
	used in the nonlinear triangulation

Friends
std::ostream &	operator<< (std::ostream &os, const TriangulationParameters &p)

Constructor & Destructor Documentation

◆ TriangulationParameters()

gtsam::TriangulationParameters::TriangulationParameters	(	const double	_rankTolerance = `1.0`,
		const bool	_enableEPI = `false`,
		double	_landmarkDistanceThreshold = `-1`,
		double	_dynamicOutlierRejectionThreshold = `-1`,
		const SharedNoiseModel &	_noiseModel = `nullptr`
	)

inline

Constructor

Parameters

rankTol	tolerance used to check if point triangulation is degenerate
enableEPI	if true refine triangulation with embedded LM iterations
landmarkDistanceThreshold	flag as degenerate if point further than this
dynamicOutlierRejectionThreshold	or if average error larger than this
noiseModel	noise model to use during nonlinear triangulation

Member Data Documentation

◆ dynamicOutlierRejectionThreshold

double gtsam::TriangulationParameters::dynamicOutlierRejectionThreshold

If this is nonnegative the we will check if the average reprojection error is smaller than this threshold after triangulation, otherwise result is flagged as degenerate.

◆ landmarkDistanceThreshold

double gtsam::TriangulationParameters::landmarkDistanceThreshold

if the landmark is triangulated at distance larger than this, result is flagged as degenerate.

◆ rankTolerance

double gtsam::TriangulationParameters::rankTolerance

(the rank is the number of singular values of the triangulation matrix which are larger than rankTolerance)

threshold to decide whether triangulation is result.degenerate

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

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/geometry/triangulation.h

Public Member Functions