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moved invDepth-related variables

release/4.3a0
lcarlone 2022-01-08 20:27:27 -05:00
parent 3ef6974235
commit c407609b8f
1 changed files with 3 additions and 10 deletions
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13
gtsam/geometry/triangulation.h
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@ -350,27 +350,23 @@ struct GTSAM_EXPORT TriangulationParameters {
SharedNoiseModel noiseModel; ///< used in the nonlinear triangulation SharedNoiseModel noiseModel; ///< used in the nonlinear triangulation
bool invDepthLinearTriangulation; ///< if set to true, we use an inverse depth alternative to DL
/** /**
* Constructor * Constructor
* @param rankTol tolerance used to check if point triangulation is degenerate * @param rankTol tolerance used to check if point triangulation is degenerate
* @param enableEPI if true refine triangulation with embedded LM iterations * @param enableEPI if true refine triangulation with embedded LM iterations
* @param landmarkDistanceThreshold flag as degenerate if point further than this * @param landmarkDistanceThreshold flag as degenerate if point further than this
* @param dynamicOutlierRejectionThreshold or if average error larger 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, TriangulationParameters(const double _rankTolerance = 1.0,
const bool _enableEPI = false, double _landmarkDistanceThreshold = -1, const bool _enableEPI = false, double _landmarkDistanceThreshold = -1,
double _dynamicOutlierRejectionThreshold = -1, double _dynamicOutlierRejectionThreshold = -1,
const SharedNoiseModel& _noiseModel = nullptr, const SharedNoiseModel& _noiseModel = nullptr) :
const bool _invDepthLinearTriangulation = false) :
rankTolerance(_rankTolerance), enableEPI(_enableEPI), // rankTolerance(_rankTolerance), enableEPI(_enableEPI), //
landmarkDistanceThreshold(_landmarkDistanceThreshold), // landmarkDistanceThreshold(_landmarkDistanceThreshold), //
dynamicOutlierRejectionThreshold(_dynamicOutlierRejectionThreshold), dynamicOutlierRejectionThreshold(_dynamicOutlierRejectionThreshold),
noiseModel(_noiseModel), noiseModel(_noiseModel){
invDepthLinearTriangulation(_invDepthLinearTriangulation){
} }
// stream to output // stream to output
@ -383,8 +379,6 @@ struct GTSAM_EXPORT TriangulationParameters {
os << "dynamicOutlierRejectionThreshold = " os << "dynamicOutlierRejectionThreshold = "
<< p.dynamicOutlierRejectionThreshold << std::endl; << p.dynamicOutlierRejectionThreshold << std::endl;
os << "noise model" << std::endl; os << "noise model" << std::endl;
os << "invDepthLinearTriangulation = " << p.invDepthLinearTriangulation
<< std::endl;
return os; return os;
} }
@ -398,7 +392,6 @@ private:
ar & BOOST_SERIALIZATION_NVP(enableEPI); ar & BOOST_SERIALIZATION_NVP(enableEPI);
ar & BOOST_SERIALIZATION_NVP(landmarkDistanceThreshold); ar & BOOST_SERIALIZATION_NVP(landmarkDistanceThreshold);
ar & BOOST_SERIALIZATION_NVP(dynamicOutlierRejectionThreshold); ar & BOOST_SERIALIZATION_NVP(dynamicOutlierRejectionThreshold);
ar & BOOST_SERIALIZATION_NVP(invDepthLinearTriangulation);
} }
}; };