srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeLocalAreaParams Struct Reference

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Detailed Description

template<class KF2KF_POSE_TYPE, class LM_TYPE, class OBS_TYPE, class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>
struct srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeLocalAreaParams

Parameters for optimize_local_area()

Definition at line 214 of file RbaEngine.h.

#include <RbaEngine.h>

List of all members.

Public Attributes
bool	optimize_k2k_edges
bool	optimize_landmarks
TKeyFrameID	max_visitable_kf_id
	While exploring around the root KF, stop the BFS when KF_ID>=this number (default:infinity)
size_t	dont_optimize_landmarks_seen_less_than_n_times
	Set to 1 to try to optimize all landmarks even if they're just observed once, which may makes sense depending on the sensor type (default: 2)

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The documentation for this struct was generated from the following file:

• srba/RbaEngine.h