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okvis::Optimization Struct Reference

Parameters for optimization and related things (detection). More...

#include <Parameters.hpp>

Public Attributes

int max_iterations
 Maximum iterations the optimization should perform. More...
 
int min_iterations
 Minimum iterations the optimization should perform. More...
 
double timeLimitForMatchingAndOptimization
 The time limit for both matching and optimization. [s]. More...
 
okvis::Duration timeReserve
 Store a little more on the beginning and end of the IMU buffer. [s]. More...
 
double detectionThreshold
 Keypoint detection threshold. More...
 
bool useMedianFilter
 Use a Median filter over captured image? More...
 
int detectionOctaves
 Number of keypoint detection octaves. More...
 
int maxNoKeypoints
 Restrict to a maximum of this many keypoints per image (strongest ones). More...
 
int numKeyframes
 Number of keyframes. More...
 
int numImuFrames
 Number of IMU frames. More...
 

Detailed Description

Parameters for optimization and related things (detection).

Member Data Documentation

int okvis::Optimization::detectionOctaves

Number of keypoint detection octaves.

double okvis::Optimization::detectionThreshold

Keypoint detection threshold.

int okvis::Optimization::max_iterations

Maximum iterations the optimization should perform.

int okvis::Optimization::maxNoKeypoints

Restrict to a maximum of this many keypoints per image (strongest ones).

int okvis::Optimization::min_iterations

Minimum iterations the optimization should perform.

int okvis::Optimization::numImuFrames

Number of IMU frames.

int okvis::Optimization::numKeyframes

Number of keyframes.

double okvis::Optimization::timeLimitForMatchingAndOptimization

The time limit for both matching and optimization. [s].

okvis::Duration okvis::Optimization::timeReserve

Store a little more on the beginning and end of the IMU buffer. [s].

bool okvis::Optimization::useMedianFilter

Use a Median filter over captured image?


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