12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Make smart parameters public. Now easier to set, and it's sufficient for this to be const within the smart factor itself!

release/4.3a0
cbeall3 2015-08-19 10:58:19 -04:00
parent c8df985e2f
commit 8b4228fa56
2 changed files with 11 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
gtsam/slam/SmartProjectionFactor.h
View File

@ -44,23 +44,21 @@ enum DegeneracyMode {
/*
* Parameters for the smart projection factors
*/
class GTSAM_EXPORT SmartProjectionParams {
public:
struct GTSAM_EXPORT SmartProjectionParams {
LinearizationMode linearizationMode; ///< How to linearize the factor
DegeneracyMode degeneracyMode; ///< How to linearize the factor
/// @name Parameters governing the triangulation
/// @{
mutable TriangulationParameters triangulation;
const double retriangulationThreshold; ///< threshold to decide whether to re-triangulate
TriangulationParameters triangulation;
double retriangulationThreshold; ///< threshold to decide whether to re-triangulate
/// @}
/// @name Parameters governing how triangulation result is treated
/// @{
const bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false)
const bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false)
bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false)
bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false)
/// @}
// Constructor

13
gtsam_unstable/slam/SmartStereoProjectionFactor.h
View File

@ -15,6 +15,7 @@
* @author Luca Carlone
* @author Zsolt Kira
* @author Frank Dellaert
* @author Chris Beall
*/
#pragma once
@ -47,23 +48,21 @@ enum DegeneracyMode {
/*
* Parameters for the smart stereo projection factors
*/
class GTSAM_EXPORT SmartStereoProjectionParams {
public:
struct GTSAM_EXPORT SmartStereoProjectionParams {
LinearizationMode linearizationMode; ///< How to linearize the factor
DegeneracyMode degeneracyMode; ///< How to linearize the factor
/// @name Parameters governing the triangulation
/// @{
mutable TriangulationParameters triangulation;
const double retriangulationThreshold; ///< threshold to decide whether to re-triangulate
TriangulationParameters triangulation;
double retriangulationThreshold; ///< threshold to decide whether to re-triangulate
/// @}
/// @name Parameters governing how triangulation result is treated
/// @{
const bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false)
const bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false)
bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false)
bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false)
/// @}