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