Struct ViProblemOptions

• Defined in File vi-optimization-builder.h

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