Struct ViProblemOptions

Struct Documentation

struct map_optimization::ViProblemOptions

Public Functions

inline bool isValid() const
inline void printToConsole(const int verbosity_level = 3)

Public Members

bool add_inertial_constraints
bool fix_gyro_bias
bool fix_accel_bias
bool fix_velocity
size_t min_landmarks_per_frame
double gravity_magnitude = std::numeric_limits<double>::quiet_NaN()
bool add_visual_constraints
bool fix_intrinsics
bool fix_extrinsics_rotation
bool fix_extrinsics_translation
bool fix_landmark_positions
bool add_wheel_odometry_constraints
bool fix_wheel_extrinsics
bool fix_vertices
bool add_6dof_odometry_constraints
bool fix_6dof_odometry_extrinsics
bool add_absolute_pose_constraints
bool fix_absolute_pose_sensor_extrinsics
bool fix_baseframes
bool add_loop_closure_edges
bool enable_visual_outlier_rejection
map_optimization::OutlierRejectionSolverOptions visual_outlier_rejection_options
ceres::Solver::Options solver_options

Public Static Functions

static ViProblemOptions initFromGFlags()

Protected Functions

ViProblemOptions() = default