struct mp2p_icp::LearnedCovarianceEstimator::Parameters

Overview

#include <LearnedCovarianceEstimator.h>

struct Parameters
{
    // fields

    std::string model_file;
    size_t window_scans = 25;
    std::map<std::string, std::string> context;
    size_t max_waiting = 1;
};

Fields

std::string model_file

Written by the training scripts.

size_t window_scans = 25

Must match the model’s training.

std::map<std::string, std::string> context

Context labels the model was trained with, e.g. {“framework_name”: “mp2p_gicp”, “sensor”: “…”, “mode”: “s2m”}.

size_t max_waiting = 1

Evaluations allowed to wait for the worker, besides the running one. At least 1.