handle some TODOs
parent
f58ee917f0
commit
a763944249
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@ -73,8 +73,7 @@ class GncParams {
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double weightsTol = 1e-4; ///< If the weights are within weightsTol from being binary, stop iterating (only for TLS)
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Verbosity verbosity = SILENT; ///< Verbosity level
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//TODO(Varun) replace IndexVector with vector<size_t> once pybind11/stl.h is globally enabled.
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/// Use IndexVector for inliers and outliers since it is fast + wrapping
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/// Use IndexVector for inliers and outliers since it is fast
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using IndexVector = FastVector<uint64_t>;
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///< Slots in the factor graph corresponding to measurements that we know are inliers
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IndexVector knownInliers = IndexVector();
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@ -305,8 +305,8 @@ virtual class GncParams {
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double relativeCostTol;
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double weightsTol;
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gtsam::This::Verbosity verbosity;
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gtsam::KeyVector knownInliers;
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gtsam::KeyVector knownOutliers;
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gtsam::This::IndexVector knownInliers;
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gtsam::This::IndexVector knownOutliers;
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void setLossType(const gtsam::GncLossType type);
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void setMaxIterations(const size_t maxIter);
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@ -314,8 +314,8 @@ virtual class GncParams {
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void setRelativeCostTol(double value);
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void setWeightsTol(double value);
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void setVerbosityGNC(const gtsam::This::Verbosity value);
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void setKnownInliers(const gtsam::KeyVector& knownIn);
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void setKnownOutliers(const gtsam::KeyVector& knownOut);
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void setKnownInliers(const gtsam::This::IndexVector& knownIn);
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void setKnownOutliers(const gtsam::This::IndexVector& knownOut);
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void print(const string& str = "GncParams: ") const;
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enum Verbosity {
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@ -225,10 +225,9 @@ class ShonanAveraging3 {
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ShonanAveraging3(string g2oFile,
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const gtsam::ShonanAveragingParameters3& parameters);
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// TODO(frank): deprecate once we land pybind wrapper
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ShonanAveraging3(const gtsam::BetweenFactorPose3s& factors);
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ShonanAveraging3(const gtsam::BetweenFactorPose3s& factors,
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const gtsam::ShonanAveragingParameters3& parameters);
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const gtsam::ShonanAveragingParameters3& parameters =
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gtsam::ShonanAveragingParameters3());
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// Query properties
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size_t nrUnknowns() const;
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