struct mola::LidarOdometry::Parameters::Visualization
Overview
#include <LidarOdometry.h> struct Visualization { // structs struct ModelPart; // fields bool show_last_deskewed_observations_decay = true; double observations_decay_seconds = 5.0; float observations_initial_alpha = 0.10f; float current_observation_alpha = 0.20f; bool show_current_observation = false; bool show_localmap = false; float local_map_point_size = 3.0f; int map_update_decimation = 10; float background_color_gray_level = 0.3f; bool show_trajectory = true; std::vector<float> trajectory_rgba = {0.1f, 0.1f, 0.1f, 1.0f}; bool show_ground_grid = true; float ground_grid_spacing = 5.0f; float current_pose_corner_size = 1.5f; float current_observation_point_size = 3.0f; mrpt::img::TColormap current_observation_colormap = mrpt::img::TColormap::cmJET; float last_deskewed_observations_point_size = 1.0f; mrpt::img::TColormap last_deskewed_observations_colormap = mrpt::img::TColormap::cmJET; bool local_map_render_voxelmap_free_space = false; bool gui_subwindow_starts_hidden = false; bool show_console_messages = true; bool camera_follows_vehicle = true; bool camera_rotates_with_vehicle = false; bool camera_orthographic = false; std::vector<ModelPart> model; // methods void initialize(const Yaml& c); };
Fields
bool show_last_deskewed_observations_decay = true
Show a sliding window of decaying past observations to visualize a “dense local map”.
bool show_current_observation = false
Show just the latest observation (redundant if show_last_deskewed_observations_decay
is enabled)
bool show_localmap = false
Show the (decimated) underlying local map used to register observations to (less dense than show_last_deskewed_observations_decay
).
int map_update_decimation = 10
If show_localmap==true, how many frames to wait to update the visualization of the map, which is a costly operation.
float current_observation_point_size = 3.0f
[m]