struct mola::KeyframePointCloudMap::TCreationOptions

Overview

#include <KeyframePointCloudMap.h>

struct TCreationOptions: public mrpt::config::CLoadableOptions
{
    // fields

    uint32_t max_search_keyframes = 3;
    uint32_t k_correspondences_for_cov = 20;
    double rotation_distance_weight = 2.0;
    uint32_t num_diverse_keyframes = 1;

    // methods

    void loadFromConfigFile(
        const mrpt::config::CConfigFileBase& c,
        const std::string& s
        );

    void dumpToTextStream(std::ostream& out) const;
    void writeToStream(mrpt::serialization::CArchive& out) const;
    void readFromStream(mrpt::serialization::CArchive& in);
};

Fields

uint32_t max_search_keyframes = 3

Maximum number of key-frames to search for NN.

double rotation_distance_weight = 2.0

Weight converting angular distance [rad] to equivalent linear distance [m] for keyframe proximity ranking. Higher values favor angularly-close (similar orientation) frames.

uint32_t num_diverse_keyframes = 1

Number of keyframe slots (out of max_search_keyframes) reserved for angularly diverse and/or more distant keyframes. Must be < max_search_keyframes.