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exposed retriangulationThreshold in SmartProjectionParams constructor

release/4.3a0
lcarlone 2016-06-01 11:30:47 -04:00
parent 43a1e290b3
commit eb9cda7c92
1 changed files with 8 additions and 2 deletions
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10
gtsam/slam/SmartProjectionFactor.h
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@ -64,9 +64,9 @@ struct GTSAM_EXPORT SmartProjectionParams {
// Constructor // Constructor
SmartProjectionParams(LinearizationMode linMode = HESSIAN, SmartProjectionParams(LinearizationMode linMode = HESSIAN,
DegeneracyMode degMode = IGNORE_DEGENERACY, bool throwCheirality = false, DegeneracyMode degMode = IGNORE_DEGENERACY, bool throwCheirality = false,
bool verboseCheirality = false) : bool verboseCheirality = false, double retriangulationTh = 1e-5) :
linearizationMode(linMode), degeneracyMode(degMode), retriangulationThreshold( linearizationMode(linMode), degeneracyMode(degMode), retriangulationThreshold(
1e-5), throwCheirality(throwCheirality), verboseCheirality( retriangulationTh), throwCheirality(throwCheirality), verboseCheirality(
verboseCheirality) { verboseCheirality) {
} }
@ -94,9 +94,15 @@ struct GTSAM_EXPORT SmartProjectionParams {
bool getThrowCheirality() const { bool getThrowCheirality() const {
return throwCheirality; return throwCheirality;
} }
double getRetriangulationThreshold() const {
return retriangulationThreshold;
}
void setLinearizationMode(LinearizationMode linMode) { void setLinearizationMode(LinearizationMode linMode) {
linearizationMode = linMode; linearizationMode = linMode;
} }
void setRetriangulationThreshold(double retriangulationTh) {
retriangulationThreshold = retriangulationTh;
}
void setDegeneracyMode(DegeneracyMode degMode) { void setDegeneracyMode(DegeneracyMode degMode) {
degeneracyMode = degMode; degeneracyMode = degMode;
} }