moved invDepth-related variables
							parent
							
								
									3ef6974235
								
							
						
					
					
						commit
						c407609b8f
					
				|  | @ -350,27 +350,23 @@ struct GTSAM_EXPORT TriangulationParameters { | |||
| 
 | ||||
|   SharedNoiseModel noiseModel; ///< used in the nonlinear triangulation
 | ||||
| 
 | ||||
|   bool invDepthLinearTriangulation; ///< if set to true, we use an inverse depth alternative to DL
 | ||||
| 
 | ||||
|   /**
 | ||||
|    * Constructor | ||||
|    * @param rankTol tolerance used to check if point triangulation is degenerate | ||||
|    * @param enableEPI if true refine triangulation with embedded LM iterations | ||||
|    * @param landmarkDistanceThreshold flag as degenerate if point further than this | ||||
|    * @param dynamicOutlierRejectionThreshold or if average error larger than this | ||||
|    * @param invDepthLinearTriangulation use inverse depth approach to linear triangulation | ||||
|    * @param noiseModel noise model to use during nonlinear triangulation | ||||
|    * | ||||
|    */ | ||||
|   TriangulationParameters(const double _rankTolerance = 1.0, | ||||
|       const bool _enableEPI = false, double _landmarkDistanceThreshold = -1, | ||||
|       double _dynamicOutlierRejectionThreshold = -1, | ||||
|       const SharedNoiseModel& _noiseModel = nullptr, | ||||
|       const bool _invDepthLinearTriangulation = false) : | ||||
|       const SharedNoiseModel& _noiseModel = nullptr) : | ||||
|       rankTolerance(_rankTolerance), enableEPI(_enableEPI), //
 | ||||
|       landmarkDistanceThreshold(_landmarkDistanceThreshold), //
 | ||||
|       dynamicOutlierRejectionThreshold(_dynamicOutlierRejectionThreshold), | ||||
|       noiseModel(_noiseModel), | ||||
|       invDepthLinearTriangulation(_invDepthLinearTriangulation){ | ||||
|       noiseModel(_noiseModel){ | ||||
|   } | ||||
| 
 | ||||
|   // stream to output
 | ||||
|  | @ -383,8 +379,6 @@ struct GTSAM_EXPORT TriangulationParameters { | |||
|     os << "dynamicOutlierRejectionThreshold = " | ||||
|         << p.dynamicOutlierRejectionThreshold << std::endl; | ||||
|     os << "noise model" << std::endl; | ||||
|     os << "invDepthLinearTriangulation = " << p.invDepthLinearTriangulation | ||||
|        << std::endl; | ||||
|     return os; | ||||
|   } | ||||
| 
 | ||||
|  | @ -398,7 +392,6 @@ private: | |||
|     ar & BOOST_SERIALIZATION_NVP(enableEPI); | ||||
|     ar & BOOST_SERIALIZATION_NVP(landmarkDistanceThreshold); | ||||
|     ar & BOOST_SERIALIZATION_NVP(dynamicOutlierRejectionThreshold); | ||||
|     ar & BOOST_SERIALIZATION_NVP(invDepthLinearTriangulation); | ||||
|   } | ||||
| }; | ||||
| 
 | ||||
|  |  | |||
		Loading…
	
		Reference in New Issue