struct mola::LidarOdometry::Parameters::SimpleMapOptions

Overview

Keyframe-creation policy for the SIMPLEMAP, which is also the one pushed to a mola::SharedKeyframeMap sink (the central mapper’s keyframe backbone). Same shared policy as MapUpdateOptions, but tuned independently: unlike the local map, this one feeds loop closure, so it is the one that usually wants nearby_keyframe_time_window enabled.

#include <LidarOdometry.h>

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

    bool generate = false;
    std::string save_final_map_to_file;
    bool add_non_keyframes_too = false;
    double save_gnss_max_age = 1.0;
    bool generate_lazy_load_scan_files = false;
    std::string load_existing_simple_map;
    bool save_deskewed_scans = 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

std::string save_final_map_to_file

If not empty, the final simple map will be dumped to a file at destruction time

bool add_non_keyframes_too = false

If enabled, all frames are stored in the simplemap, but non-keyframes will be without associated observations.

double save_gnss_max_age = 1.0

If !=0, storing the latest GNSS observation together with the Lidar observation in the simplemap CSensoryFrame (SF) (“keyframe”) will be enabled. This parameter sets the maximum age in seconds for a GNSS (GPS) observation to be considered valid to be stored in the SF.

bool generate_lazy_load_scan_files = false

If enabled, a directory will be create alongside the .simplemap and pointclouds will be externally serialized there, for much faster loading and processing of simplemaps.

std::string load_existing_simple_map

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

bool save_deskewed_scans = false

If enabled, saved keyframes will contain an additional ‘deskewed’ observation with the motion-compensated cloud.