struct mola::AddGNSSFactorParams

Overview

#include <simplemap_georeference.h>

struct AddGNSSFactorParams
{
    // fields

    bool addHorizontalityConstraints = false;
    double horizontalitySigmaZ = 1.0;
    double minimumUncertaintyXYZ = 0.20;
    double robustParamHuberK = 1.5;
};

Fields

bool addHorizontalityConstraints = false

May be required for small maps, i.e. when the length of the trajectory is not >10 times the GNSS uncertainty.

double robustParamHuberK = 1.5

Parameter “k” (in whitened/normalized units) of the Huber robust kernel applied to each GNSS position factor. Residuals below this threshold are treated quadratically; larger ones are down-weighted linearly.