enum mola::InitLocalization

Overview

#include <LidarOdometry.h>

enum InitLocalization
{
    FixedPose           = 0,
    FromStateEstimator,
    PitchAndRollFromIMU,
};

Detailed Documentation

Enum Values

FixedPose

Initialize around a given SE(3) pose with covariance:

FromStateEstimator

Initialize from the external state estimator, with an optional maximum uncertainty threshold.

PitchAndRollFromIMU

Initialize pitch & roll from a short IMU sequence, assuming sensor is roughly stationary at startup.