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 imu_initial_calibration_sample_count = 50;
    double imu_initial_calibration_max_age = 0.75;
    bool use_imu_orientation = true;
    double from_state_estimator_max_position_sigma = 0.5;
    double from_state_estimator_max_orientation_sigma_deg = 3.0;
    double from_state_estimator_timeout = 60.0;

    // methods

    void initialize(const Yaml& c);
};

Fields

uint32_t imu_initial_calibration_sample_count = 50

Number of IMU (accelerometer) samples to accumulate while stationary to estimate Pitch & Roll:

double imu_initial_calibration_max_age = 0.75

Maximum time span (in seconds) for the “imu_initial_calibration_sample_count” IMU samples:

bool use_imu_orientation = true

If provided by the IMU, prefer gravity-aligned orientation from the sensor instead of accelerometer data.

double from_state_estimator_max_position_sigma = 0.5

Maximum position sigma (m) to accept state estimator as converged Used when method == FromStateEstimator

double from_state_estimator_max_orientation_sigma_deg = 3.0

Maximum orientation sigma (deg) to accept state estimator as converged Used when method == FromStateEstimator

double from_state_estimator_timeout = 60.0

Timeout (seconds) waiting for state estimator to converge If <=0, wait indefinitely