struct mola::RelocalizationICP_SE2::Input

Overview

#include <relocalization.h>

struct Input
{
    // structs

    struct InputLattice;
    struct OutputLattice;

    // fields

    mp2p_icp::metric_map_t reference_map;
    mp2p_icp::metric_map_t local_map;
    std::vector<mp2p_icp::ICP::Ptr> icp_pipeline;
    mp2p_icp::Parameters icp_parameters;
    double icp_minimum_quality = 0.50;
    InputLattice initial_guess_lattice;
    OutputLattice output_lattice;
    std::function<void(const ProgressFeedback&)> on_progress_callback;
};

Fields

std::vector<mp2p_icp::ICP::Ptr> icp_pipeline

If provided more than one, several ICP runs will be triggered in parallel threads. Only do so if the reference map supports concurrent alignments from different initial guesses (maps that prepare a submap per ICP run, like mola::KeyframePointCloudMap, do not).