struct mola::LidarOdometry::Parameters

Overview

#include <LidarOdometry.h>

struct Parameters: public mp2p_icp::Parameterizable
{
    // structs

    struct AdaptiveThreshold;
    struct ICP_case;
    struct InitialLocalizationOptions;
    struct MapUpdateOptions;
    struct MultipleLidarOptions;
    struct ObservationValidityChecks;
    struct SimpleMapOptions;
    struct TraceOutputOptions;
    struct TrajectoryOutputOptions;
    struct Visualization;

    // fields

    std::vector<std::regex> lidar_sensor_labels;
    std::optional<std::regex> imu_sensor_label;
    std::optional<std::regex> gnss_sensor_label;
    double min_time_between_scans = 0.05;
    double max_sensor_range_filter_coefficient = 0.999;
    double absolute_minimum_sensor_range = 5.0;
    bool optimize_twist = false;
    double optimize_twist_rerun_min_trans = 0.1;
    double optimize_twist_rerun_min_rot_deg = 0.5;
    size_t optimize_twist_max_corrections = 8;
    MultipleLidarOptions multiple_lidars;
    MapUpdateOptions local_map_updates;
    double min_icp_goodness = 0.4;
    bool pipeline_profiler_enabled = false;
    bool icp_profiler_enabled = false;
    bool icp_profiler_full_history = false;
    Visualization visualization;
    AdaptiveThreshold adaptive_threshold;
    std::map<AlignKind, ICP_case> icp;
    SimpleMapOptions simplemap;
    TrajectoryOutputOptions estimated_trajectory;
    TraceOutputOptions debug_traces;
    InitialLocalizationOptions initial_localization;
    ObservationValidityChecks observation_validity_checks;
    bool start_active = true;
    int32_t max_lidar_queue_before_drop = 15;
    uint32_t gnss_queue_max_size = 100;
    std::string publish_reference_frame = "odom";
    std::string publish_vehicle_frame = "base_link";
};

Fields

std::vector<std::regex> lidar_sensor_labels

List of sensor labels or regex’s to be matched to input observations to be used as raw lidar observations.

std::optional<std::regex> imu_sensor_label

Sensor labels or regex to be matched to input observations to be used as raw IMU observations.

std::optional<std::regex> gnss_sensor_label

Sensor labels or regex to be matched to input observations to be used as GNSS (GPS) observations.

double min_time_between_scans = 0.05

Minimum time (seconds) between scans for being attempted to be aligned. Scans faster than this rate will be just silently ignored.

bool optimize_twist = false

If enabled (slower), vehicle twist will be optimized during ICP enabling better and more robust odometry in high dynamics motion.

double min_icp_goodness = 0.4

Minimum ICP “goodness” (in the range [0,1]) for a new KeyFrame to be accepted during regular lidar odometry & mapping

std::string publish_reference_frame = "odom"

When publishing pose updates, the reference frame for both, estimated robot poses, and the local map.

std::string publish_vehicle_frame = "base_link"

When publishing pose updates, the vehicle frame name.