SLAMOptions.hpp

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#ifndef SLAMOPTIONS_HPP_
#define SLAMOPTIONS_HPP_
 
namespace lvr2
{
 
struct SLAMOptions
{
    // ==================== General Options ======================================================
 
    bool    trustPose = false;
 
    bool    metascan = false;
 
    bool    createFrames = false;
 
    bool    verbose = false;
 
    bool    useHDF = false;
 
    // ==================== Reduction Options ====================================================
 
    double  reduction = -1;
 
    double  minDistance = -1;
 
    double  maxDistance = -1;
 
    // ==================== ICP Options ==========================================================
 
    int     icpIterations = 100;
 
    double  icpMaxDistance = 25;
 
    int     maxLeafSize = 20;
 
    double  epsilon = 0.00001;
 
    // ==================== SLAM Options =========================================================
 
    bool    doLoopClosing = false;
 
    bool    doGraphSLAM = false;
 
    double  closeLoopDistance = 500;
 
    int     closeLoopPairs = -1;
 
    int     loopSize = 20;
 
    int     slamIterations = 50;
 
    double  slamMaxDistance = 25;
 
    double  slamEpsilon = 0.5;
 
    double diffPosition = 50;
 
    double diffAngle = 50;
 
    bool useScanOrder = true;
 
    double rotate_angle = 0;
};
 
} /* namespace lvr2 */
 
#endif /* SLAMOPTIONS_HPP_ */