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.