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Merge pull request #1517 from dllu/develop

release/4.3a0
Frank Dellaert 2023-09-04 15:06:10 -07:00 committed by GitHub
parent 0948fa86a6 242728df02
commit 52ecb09a4f
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 11 additions and 1 deletions
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2
gtsam/geometry/geometry.i
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@ -1180,11 +1180,13 @@ class TriangulationParameters {
bool enableEPI;
double landmarkDistanceThreshold;
double dynamicOutlierRejectionThreshold;
bool useLOST;
gtsam::SharedNoiseModel noiseModel;
TriangulationParameters(const double rankTolerance = 1.0,
const bool enableEPI = false,
double landmarkDistanceThreshold = -1,
double dynamicOutlierRejectionThreshold = -1,
const bool useLOST = false,
const gtsam::SharedNoiseModel& noiseModel = nullptr);
};

10
gtsam/geometry/triangulation.h
View File

@ -574,6 +574,11 @@ struct GTSAM_EXPORT TriangulationParameters {
*/
double dynamicOutlierRejectionThreshold;
/**
* if true, will use the LOST algorithm instead of DLT
*/
bool useLOST;
SharedNoiseModel noiseModel; ///< used in the nonlinear triangulation
/**
@ -588,10 +593,12 @@ struct GTSAM_EXPORT TriangulationParameters {
TriangulationParameters(const double _rankTolerance = 1.0,
const bool _enableEPI = false, double _landmarkDistanceThreshold = -1,
double _dynamicOutlierRejectionThreshold = -1,
const bool _useLOST = false,
const SharedNoiseModel& _noiseModel = nullptr) :
rankTolerance(_rankTolerance), enableEPI(_enableEPI), //
landmarkDistanceThreshold(_landmarkDistanceThreshold), //
dynamicOutlierRejectionThreshold(_dynamicOutlierRejectionThreshold),
useLOST(_useLOST),
noiseModel(_noiseModel){
}
@ -604,6 +611,7 @@ struct GTSAM_EXPORT TriangulationParameters {
<< std::endl;
os << "dynamicOutlierRejectionThreshold = "
<< p.dynamicOutlierRejectionThreshold << std::endl;
os << "useLOST = " << p.useLOST << std::endl;
os << "noise model" << std::endl;
return os;
}
@ -701,7 +709,7 @@ TriangulationResult triangulateSafe(const CameraSet<CAMERA>& cameras,
try {
Point3 point =
triangulatePoint3<CAMERA>(cameras, measured, params.rankTolerance,
params.enableEPI, params.noiseModel);
params.enableEPI, params.noiseModel, params.useLOST);
// Check landmark distance and re-projection errors to avoid outliers
size_t i = 0;