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Cleaned up parameters a bit

release/4.3a0
dellaert 2015-06-20 13:09:39 -07:00
parent 2ce252fdc0
commit 1f8adc9381
1 changed files with 19 additions and 23 deletions
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42
gtsam/slam/SmartProjectionFactor.h
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@ -53,7 +53,7 @@ public:
/// @name Parameters governing the triangulation
/// @{
mutable TriangulationParameters triangulationParameters;
mutable TriangulationParameters triangulation;
const double retriangulationThreshold; ///< threshold to decide whether to re-triangulate
/// @}
@ -65,13 +65,11 @@ public:
// Constructor
SmartProjectionParams(LinearizationMode linMode = HESSIAN,
DegeneracyMode degMode = IGNORE_DEGENERACY, double rankTol = 1,
bool enableEPI = false, double landmarkDistanceThreshold = 1e10,
double dynamicOutlierRejectionThreshold = -1) :
linearizationMode(linMode), degeneracyMode(degMode), triangulationParameters(
rankTol, enableEPI, landmarkDistanceThreshold,
dynamicOutlierRejectionThreshold), retriangulationThreshold(1e-5), throwCheirality(
false), verboseCheirality(false) {
DegeneracyMode degMode = IGNORE_DEGENERACY, bool throwCheirality = false,
bool verboseCheirality = false) :
linearizationMode(linMode), degeneracyMode(degMode), retriangulationThreshold(
1e-5), throwCheirality(throwCheirality), verboseCheirality(
verboseCheirality) {
}
virtual ~SmartProjectionParams() {
@ -80,14 +78,14 @@ public:
void print(const std::string& str) const {
std::cout << " linearizationMode: " << linearizationMode << "\n";
std::cout << " degeneracyMode: " << degeneracyMode << "\n";
std::cout << " rankTolerance: "
<< triangulationParameters.rankTolerance << "\n";
std::cout << " enableEPI: "
<< triangulationParameters.enableEPI << "\n";
std::cout << " rankTolerance: " << triangulation.rankTolerance
<< "\n";
std::cout << " enableEPI: " << triangulation.enableEPI
<< "\n";
std::cout << " landmarkDistanceThreshold: "
<< triangulationParameters.landmarkDistanceThreshold << "\n";
<< triangulation.landmarkDistanceThreshold << "\n";
std::cout << " OutlierRejectionThreshold: "
<< triangulationParameters.dynamicOutlierRejectionThreshold << "\n";
<< triangulation.dynamicOutlierRejectionThreshold << "\n";
std::cout.flush();
}
@ -98,7 +96,7 @@ public:
return degeneracyMode;
}
TriangulationParameters getTriangulationParameters() const {
return triangulationParameters;
return triangulation;
}
bool getVerboseCheirality() const {
return verboseCheirality;
@ -113,18 +111,16 @@ public:
degeneracyMode = degMode;
}
void setRankTolerance(double rankTol) {
triangulationParameters.rankTolerance = rankTol;
triangulation.rankTolerance = rankTol;
}
void setEnableEPI(bool enableEPI) {
triangulationParameters.enableEPI = enableEPI;
triangulation.enableEPI = enableEPI;
}
void setLandmarkDistanceThreshold(bool landmarkDistanceThreshold) {
triangulationParameters.landmarkDistanceThreshold =
landmarkDistanceThreshold;
triangulation.landmarkDistanceThreshold = landmarkDistanceThreshold;
}
void setDynamicOutlierRejectionThreshold(bool dynOutRejectionThreshold) {
triangulationParameters.dynamicOutlierRejectionThreshold =
dynOutRejectionThreshold;
triangulation.dynamicOutlierRejectionThreshold = dynOutRejectionThreshold;
}
};
@ -188,7 +184,7 @@ public:
std::cout << s << "SmartProjectionFactor\n";
std::cout << "linearizationMode:\n" << params_.linearizationMode
<< std::endl;
std::cout << "triangulationParameters:\n" << params_.triangulationParameters
std::cout << "triangulationParameters:\n" << params_.triangulation
<< std::endl;
std::cout << "result:\n" << result_ << std::endl;
Base::print("", keyFormatter);
@ -247,7 +243,7 @@ public:
bool retriangulate = decideIfTriangulate(cameras);
if (retriangulate)
result_ = gtsam::triangulateSafe(cameras, this->measured_,
params_.triangulationParameters);
params_.triangulation);
return result_;
}