struct mola::GravityMapAligner::Params

Overview

#include <GravityMapAligner.h>

struct Params
{
    // fields

    std::size_t min_keyframes = 10;
    double huber_threshold_mps2 = 0.5;
    double max_kf_acc_std_mps2 = 1.5;
    std::size_t irls_iterations = 3;
    double expected_g_mps2 = 9.81;
    double axis_eps = kDefaultAxisEps;
};

Fields

std::size_t min_keyframes = 10

Don’t produce any estimate below this pool size.

double huber_threshold_mps2 = 0.5

Huber threshold on |R_i·a_i − ĝ|, in m/s².

double max_kf_acc_std_mps2 = 1.5

KFs with intra-interval accel std above this are heavily down-weighted (reject highly dynamic motion). In m/s².

std::size_t irls_iterations = 3

Number of IRLS iterations.

double expected_g_mps2 = 9.81

Expected gravity magnitude in m/s² (used only for initial weighting).

double axis_eps = kDefaultAxisEps

Numerical guard for axis-angle near-zero/180°.