struct mola::LidarOdometry::Parameters::MultipleLidarOptions

Overview

#include <LidarOdometry.h>

struct MultipleLidarOptions
{
    // fields

    uint32_t lidar_count = 1;
    double max_time_offset = 25e-3;

    // methods

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

Fields

uint32_t lidar_count = 1

If N>1, the system LO system will try to group “N” observations before attempting to use them for localization and map update.

double max_time_offset = 25e-3

If using multiple LIDARs, the maximum delay between the first and last one in order to be treated as a “group”. In seconds.