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]