Parameters for OdometryEstimationGPU. More...
#include <odometry_estimation_gpu.hpp>
Inheritance diagram for glim::OdometryEstimationGPUParams:
Collaboration diagram for glim::OdometryEstimationGPUParams:
Public Types | |
| enum class | KeyframeUpdateStrategy { OVERLAP , DISPLACEMENT , ENTROPY } |
Public Attributes | |
| double | voxel_resolution |
| double | voxel_resolution_max |
| double | voxel_resolution_dmin |
| double | voxel_resolution_dmax |
| int | voxelmap_levels |
| double | voxelmap_scaling_factor |
| int | max_num_keyframes |
| int | full_connection_window_size |
| KeyframeUpdateStrategy | keyframe_strategy |
| double | keyframe_min_overlap |
| double | keyframe_max_overlap |
| double | keyframe_delta_trans |
| double | keyframe_delta_rot |
| double | keyframe_entropy_thresh |
 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 OdometryEstimationGPU.
The documentation for this struct was generated from the following file:
- /home/runner/work/glim/glim/include/glim/odometry/odometry_estimation_gpu.hpp
