Struct ViProblemOptions¶
Defined in File vi-optimization-builder.h
Struct Documentation¶
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struct map_optimization::ViProblemOptions¶
Public Functions
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inline bool isValid() const¶
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inline void printToConsole(const int verbosity_level = 3)¶
Public Members
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bool add_inertial_constraints¶
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bool fix_gyro_bias¶
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bool fix_accel_bias¶
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bool fix_velocity¶
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size_t min_landmarks_per_frame¶
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double gravity_magnitude = std::numeric_limits<double>::quiet_NaN()¶
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bool add_visual_constraints¶
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bool fix_intrinsics¶
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bool fix_extrinsics_rotation¶
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bool fix_extrinsics_translation¶
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bool fix_landmark_positions¶
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bool add_wheel_odometry_constraints¶
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bool fix_wheel_extrinsics¶
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bool fix_vertices¶
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bool add_6dof_odometry_constraints¶
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bool fix_6dof_odometry_extrinsics¶
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bool add_absolute_pose_constraints¶
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bool fix_absolute_pose_sensor_extrinsics¶
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bool fix_baseframes¶
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bool add_loop_closure_edges¶
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bool enable_visual_outlier_rejection¶
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map_optimization::OutlierRejectionSolverOptions visual_outlier_rejection_options¶
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ceres::Solver::Options solver_options¶
Public Static Functions
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static ViProblemOptions initFromGFlags()¶
Protected Functions
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ViProblemOptions() = default¶
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inline bool isValid() const¶