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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
padre c8df985e2f
commit 8b4228fa56
Se han modificado 2 ficheros con 11 adiciones y 14 borrados
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12
gtsam/slam/SmartProjectionFactor.h
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@ -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
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@ -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)
/// @}