struct mola::LidarOdometry::Parameters::SimpleMapOptions::AttachedObservation

Overview

Observations of other sensors (e.g. camera images) to store in each keyframe, with the same “closest in time” rule as GNSS and IMU above, among the observations received by the time the keyframe is created (mola_mapper and mola-sm-attach-from-rosbag1/2, which can wait for later ones, attach more). One entry per sensor or group of sensors: a regex matching several cameras stores one image of each in every keyframe. YAML:

attach_observations:
  - sensor_label: 'camera_left'  # regex; empty: entry ignored
    max_age: 0.5                 # [s]
    attach_once: true            # never the same one in two keyframes
    queue_max_size: 10

#include <LidarOdometry.h>

struct AttachedObservation
{
    // fields

    std::string sensor_label;
    double max_age = 0.5;
    bool attach_once = true;
    uint32_t queue_max_size = 10;
};