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Robust triangulation #1020

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merged 10 commits into from
Jan 18, 2022
Merged

Robust triangulation #1020

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3ef6974
added robustness to triangulation
Jan 9, 2022
c407609
moved invDepth-related variables
Jan 9, 2022
b60ca0c
Update test_Triangulation.py
johnwlambert Jan 12, 2022
d66b1d7
fix syntax errors
johnwlambert Jan 12, 2022
f009a14
add missing type hint
johnwlambert Jan 12, 2022
e2993ea
yapf pep8 reformat
johnwlambert Jan 12, 2022
1614ce0
wrap new noise model arg for gtsam.triangulatePoint3
johnwlambert Jan 12, 2022
0f1ff48
add missing type hint import
johnwlambert Jan 12, 2022
0ff9110
add missing type hint annotation import
johnwlambert Jan 12, 2022
aef2a39
Merge pull request #1031 from borglab/add-python-unit-test-robust-noise
johnwlambert Jan 13, 2022
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moved invDepth-related variables
  • Loading branch information
lcarlone committed Jan 9, 2022
commit c407609b8f8d2d6f7c110bc757325826f83e75e1
13 changes: 3 additions & 10 deletions gtsam/geometry/triangulation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -350,27 +350,23 @@ struct GTSAM_EXPORT TriangulationParameters {

SharedNoiseModel noiseModel; ///< used in the nonlinear triangulation

bool invDepthLinearTriangulation; ///< if set to true, we use an inverse depth alternative to DL

/**
* Constructor
* @param rankTol tolerance used to check if point triangulation is degenerate
* @param enableEPI if true refine triangulation with embedded LM iterations
* @param landmarkDistanceThreshold flag as degenerate if point further than this
* @param dynamicOutlierRejectionThreshold or if average error larger than this
* @param invDepthLinearTriangulation use inverse depth approach to linear triangulation
* @param noiseModel noise model to use during nonlinear triangulation
*
*/
TriangulationParameters(const double _rankTolerance = 1.0,
const bool _enableEPI = false, double _landmarkDistanceThreshold = -1,
double _dynamicOutlierRejectionThreshold = -1,
const SharedNoiseModel& _noiseModel = nullptr,
const bool _invDepthLinearTriangulation = false) :
const SharedNoiseModel& _noiseModel = nullptr) :
rankTolerance(_rankTolerance), enableEPI(_enableEPI), //
landmarkDistanceThreshold(_landmarkDistanceThreshold), //
dynamicOutlierRejectionThreshold(_dynamicOutlierRejectionThreshold),
noiseModel(_noiseModel),
invDepthLinearTriangulation(_invDepthLinearTriangulation){
noiseModel(_noiseModel){
}

// stream to output
Expand All @@ -383,8 +379,6 @@ struct GTSAM_EXPORT TriangulationParameters {
os << "dynamicOutlierRejectionThreshold = "
<< p.dynamicOutlierRejectionThreshold << std::endl;
os << "noise model" << std::endl;
os << "invDepthLinearTriangulation = " << p.invDepthLinearTriangulation
<< std::endl;
return os;
}

Expand All @@ -398,7 +392,6 @@ struct GTSAM_EXPORT TriangulationParameters {
ar & BOOST_SERIALIZATION_NVP(enableEPI);
ar & BOOST_SERIALIZATION_NVP(landmarkDistanceThreshold);
ar & BOOST_SERIALIZATION_NVP(dynamicOutlierRejectionThreshold);
ar & BOOST_SERIALIZATION_NVP(invDepthLinearTriangulation);
}
};

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