struct mola::LidarOdometry::Parameters::InitialLocalizationOptions
Overview
#include <LidarOdometry.h> struct InitialLocalizationOptions { // fields InitLocalization method = InitLocalization::FixedPose; mrpt::math::TPose3D fixed_initial_pose; std::optional<mrpt::math::CMatrixDouble66> initial_pose_cov; uint32_t additional_uncertainty_after_reloc_how_many_timesteps = 5; uint32_t pitch_and_roll_from_imu_sample_count = 50; double pitch_and_roll_from_imu_max_age = 0.75; // methods void initialize(const Yaml& c); };
Fields
uint32_t pitch_and_roll_from_imu_sample_count = 50
Number of IMU (accelerometer) samples to accumulate while stationary to estimate Pitch & Roll:
double pitch_and_roll_from_imu_max_age = 0.75
Maximum time span (in seconds) for the “pitch_and_roll_from_imu_sample_count” IMU samples: