mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeLocalAreaParams Struct Reference

Detailed Description

template<class KF2KF_POSE_TYPE, class LM_TYPE, class OBS_TYPE, class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>
struct mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeLocalAreaParams

Parameters for optimize_local_area()

Definition at line 190 of file RbaEngine.h.

#include <mrpt/srba/RbaEngine.h>

Public Member Functions
	TOptimizeLocalAreaParams ()

Public Attributes
bool	optimize_k2k_edges
bool	optimize_landmarks
TKeyFrameID	max_visitable_kf_id
	While exploring around the root KF, stop the BFS when KF_ID>=this number (default:infinity) More...
size_t	dont_optimize_landmarks_seen_less_than_n_times
	Set to 1 to try to optimize all landmarks even if they're just observed once, which may makes sense depending on the sensor type (default: 2) More...

Constructor & Destructor Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeLocalAreaParams::TOptimizeLocalAreaParams ( )

inline

Definition at line 197 of file RbaEngine.h.

Member Data Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

size_t mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeLocalAreaParams::dont_optimize_landmarks_seen_less_than_n_times

Set to 1 to try to optimize all landmarks even if they're just observed once, which may makes sense depending on the sensor type (default: 2)

Definition at line 195 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::visit_k2f().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

TKeyFrameID mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeLocalAreaParams::max_visitable_kf_id

While exploring around the root KF, stop the BFS when KF_ID>=this number (default:infinity)

Definition at line 194 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::visit_filter_kf().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

bool mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeLocalAreaParams::optimize_k2k_edges

Definition at line 192 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::visit_k2k().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

bool mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeLocalAreaParams::optimize_landmarks

Definition at line 193 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::visit_filter_k2f().