struct mola::LidarOdometry::MethodState::AttachSource

Overview

#include <LidarOdometry.h>

struct AttachSource
{
    // fields

    KeyframeAttachmentBuffer::Options options;
    std::optional<std::regex> sensor_label;
    std::map<std::string, KeyframeAttachmentBuffer> buffers;

    // methods

    void add(const mrpt::obs::CObservation::ConstPtr& o);
};

Fields

std::optional<std::regex> sensor_label

Sensor label regex of simplemap.attach_observations entries.

std::map<std::string, KeyframeAttachmentBuffer> buffers

By sensor label (a single one, “”, for GNSS and IMU).