struct mola::LidarOdometry::Parameters::MapUpdateOptions

Overview

Keyframe-creation policy for the LOCAL METRIC MAP. The distance thresholds, the occupancy count and the temporal window all come from mola::KeyframeDecisionOptions, shared with SimpleMapOptions; they stay plain (non-nested) YAML keys of the local_map_updates section.

#include <LidarOdometry.h>

struct MapUpdateOptions: public mola::KeyframeDecisionOptions
{
    // fields

    bool enabled = true;
    double max_distance_to_keep_keyframes = 0;
    uint32_t check_for_removal_every_n = 100;
    uint32_t publish_map_updates_every_n = 5;
    bool rebuild_on_corrections = true;
    double rebuild_keyframe_spacing = 1.0;
    bool publish_local_map = true;
    std::string load_existing_local_map;
    std::string save_final_local_map;
    bool load_map_after_gui_init = false;

    // methods

    void initialize(
        const Yaml& c,
        Parameters& parent
        );
};

Inherited Members

public:
    // fields

    double min_translation_between_keyframes = 1.0;
    double min_rotation_between_keyframes = 30.0;
    bool measure_from_last_kf_only = false;
    uint32_t min_nearby_poses_occupied = 1;
    double nearby_keyframe_time_window = 0;

Fields

bool enabled = true

If set to false, the odometry system can be used as localization-only.

double max_distance_to_keep_keyframes = 0

Should match the “remove farther than” option of the local metric map. 0 means deletion of distant keyframes is disabled. In meters.

uint32_t check_for_removal_every_n = 100

If max_distance_to_keep_keyframes is not zero, this indicates how often to do the distant keyframes clean up.

uint32_t publish_map_updates_every_n = 5

Publish updated map via mola::MapSourceBase once every N frames

bool rebuild_on_corrections = true

If a mola::LocalMapCorrectionSource (e.g. a global mapper) is present and keyframes are pushed to it, rebuild the local map after each of its corrections (loop closures), from its keyframes within max_distance_to_keep_keyframes, including those of earlier visits. The map is anchored at the newest pushed keyframe, so the vehicle pose does not jump.

double rebuild_keyframe_spacing = 1.0

Minimum distance between the keyframes used in a rebuild [m] (the newest ones are kept): denser keyframes mostly repeat points, and each one costs a scan preprocessing.

bool publish_local_map = true

Whether to publish the local map at all via mola::MapSourceBase.

Publishing deep-copies the whole local map, which on a large
scene costs a noticeable fraction of the per-scan budget, and
it is done unconditionally: there is deliberately no check for
whether anyone is subscribed, so that a subscriber arriving
late still receives a map. That trade is right for a live node
and wrong for a batch run, where no subscriber will ever
appear, so the offline CLI defaults this off.

std::string load_existing_local_map

If non-empty, the local map will be loaded from the given *.mm file instead of generating it from scratch. This can be used for multi-session SLAM, or for localization-only.

std::string save_final_local_map

If not empty, saves the final local metric map to a “.mm” file

bool load_map_after_gui_init = false

If true, map loading from file is deferred until after the GUI is first rendered, so the GUI appears before the (potentially long) file I/O. Can also be enabled via the env var MOLA_LO_LOAD_MAP_AFTER_GUI=1.