Parameters for OdometryEstimationCPU. More...
#include <odometry_estimation_cpu.hpp>
Inheritance diagram for glim::OdometryEstimationCPUParams:
Collaboration diagram for glim::OdometryEstimationCPUParams:
Public Attributes | |
| std::string | registration_type |
| Registration type (GICP or VGICP) | |
| int | max_iterations |
| Maximum number of iterations. | |
| int | lru_thresh |
| LRU cache threshold. | |
| double | target_downsampling_rate |
| Downsampling rate for points to be inserted into the target. | |
| double | ivox_resolution |
| iVox resolution (for GICP) | |
| double | ivox_min_dist |
| Minimum distance between points in an iVox cell (for GICP) | |
| double | vgicp_resolution |
| Voxelmap resolution (for VGICP) | |
| int | vgicp_voxelmap_levels |
| Multi-resolution voxelmap levesl (for VGICP) | |
| double | vgicp_voxelmap_scaling_factor |
| Multi-resolution voxelmap scaling factor (for VGICP) | |
 Public Attributes inherited from glim::OdometryEstimationIMUParams | |
| bool | fix_imu_bias |
| double | imu_bias_noise |
| Eigen::Isometry3d | T_lidar_imu |
| Eigen::Matrix< double, 6, 1 > | imu_bias |
| std::string | initialization_mode |
| bool | estimate_init_state |
| Eigen::Isometry3d | init_T_world_imu |
| Eigen::Vector3d | init_v_world_imu |
| double | init_pose_damping_scale |
| double | smoother_lag |
| bool | use_isam2_dogleg |
| double | isam2_relinearize_skip |
| double | isam2_relinearize_thresh |
| bool | save_imu_rate_trajectory |
| int | num_threads |
| int | num_smoother_update_threads |
Detailed Description
Parameters for OdometryEstimationCPU.
The documentation for this struct was generated from the following file:
- /home/runner/work/glim/glim/include/glim/odometry/odometry_estimation_cpu.hpp
