Struct which stores all our filter options. More...
#include <StateOptions.h>
Public Types | |
| enum | ImuModel { KALIBR, RPNG } |
| IMU intrinsic models. More... | |
| enum | IntegrationMethod { DISCRETE, RK4, ANALYTICAL } |
| Numerical integration methods. More... | |
Public Member Functions | |
| void | print (const std::shared_ptr< ov_core::YamlParser > &parser=nullptr) |
| Nice print function of what parameters we have loaded. More... | |
Public Attributes | |
| bool | do_calib_camera_intrinsics = false |
| Bool to determine whether or not to calibrate camera intrinsics. More... | |
| bool | do_calib_camera_pose = false |
| Bool to determine whether or not to calibrate imu-to-camera pose. More... | |
| bool | do_calib_camera_timeoffset = false |
| Bool to determine whether or not to calibrate camera to IMU time offset. More... | |
| bool | do_calib_imu_g_sensitivity = false |
| Bool to determine whether or not to calibrate the Gravity sensitivity. More... | |
| bool | do_calib_imu_intrinsics = false |
| Bool to determine whether or not to calibrate the IMU intrinsics. More... | |
| bool | do_fej = true |
| Bool to determine whether or not to do first estimate Jacobians. More... | |
| ov_type::LandmarkRepresentation::Representation | feat_rep_aruco = ov_type::LandmarkRepresentation::Representation::GLOBAL_3D |
| What representation our features are in (aruco tag features) More... | |
| ov_type::LandmarkRepresentation::Representation | feat_rep_msckf = ov_type::LandmarkRepresentation::Representation::GLOBAL_3D |
| What representation our features are in (msckf features) More... | |
| ov_type::LandmarkRepresentation::Representation | feat_rep_slam = ov_type::LandmarkRepresentation::Representation::GLOBAL_3D |
| What representation our features are in (slam features) More... | |
| ImuModel | imu_model = ImuModel::KALIBR |
| What model our IMU intrinsics are. More... | |
| IntegrationMethod | integration_method = IntegrationMethod::RK4 |
| What type of numerical integration is used during propagation. More... | |
| int | max_aruco_features = 1024 |
| Max number of estimated ARUCO features. More... | |
| int | max_clone_size = 11 |
| Max clone size of sliding window. More... | |
| int | max_msckf_in_update = 1000 |
| Max number of MSCKF features we will use at a given image timestep. More... | |
| int | max_slam_features = 25 |
| Max number of estimated SLAM features. More... | |
| int | max_slam_in_update = 1000 |
| Max number of SLAM features we allow to be included in a single EKF update. More... | |
| int | num_cameras = 1 |
| Number of distinct cameras that we will observe features in. More... | |
Struct which stores all our filter options.
Definition at line 35 of file StateOptions.h.
Numerical integration methods.
| Enumerator | |
|---|---|
| DISCRETE | |
| RK4 | |
| ANALYTICAL | |
Definition at line 41 of file StateOptions.h.
|
inline |
Nice print function of what parameters we have loaded.
Definition at line 95 of file StateOptions.h.
| bool ov_msckf::StateOptions::do_calib_camera_intrinsics = false |
Bool to determine whether or not to calibrate camera intrinsics.
Definition at line 50 of file StateOptions.h.
| bool ov_msckf::StateOptions::do_calib_camera_pose = false |
Bool to determine whether or not to calibrate imu-to-camera pose.
Definition at line 47 of file StateOptions.h.
| bool ov_msckf::StateOptions::do_calib_camera_timeoffset = false |
Bool to determine whether or not to calibrate camera to IMU time offset.
Definition at line 53 of file StateOptions.h.
| bool ov_msckf::StateOptions::do_calib_imu_g_sensitivity = false |
Bool to determine whether or not to calibrate the Gravity sensitivity.
Definition at line 59 of file StateOptions.h.
| bool ov_msckf::StateOptions::do_calib_imu_intrinsics = false |
Bool to determine whether or not to calibrate the IMU intrinsics.
Definition at line 56 of file StateOptions.h.
| bool ov_msckf::StateOptions::do_fej = true |
Bool to determine whether or not to do first estimate Jacobians.
Definition at line 38 of file StateOptions.h.
| ov_type::LandmarkRepresentation::Representation ov_msckf::StateOptions::feat_rep_aruco = ov_type::LandmarkRepresentation::Representation::GLOBAL_3D |
What representation our features are in (aruco tag features)
Definition at line 92 of file StateOptions.h.
| ov_type::LandmarkRepresentation::Representation ov_msckf::StateOptions::feat_rep_msckf = ov_type::LandmarkRepresentation::Representation::GLOBAL_3D |
What representation our features are in (msckf features)
Definition at line 86 of file StateOptions.h.
| ov_type::LandmarkRepresentation::Representation ov_msckf::StateOptions::feat_rep_slam = ov_type::LandmarkRepresentation::Representation::GLOBAL_3D |
What representation our features are in (slam features)
Definition at line 89 of file StateOptions.h.
| ImuModel ov_msckf::StateOptions::imu_model = ImuModel::KALIBR |
What model our IMU intrinsics are.
Definition at line 65 of file StateOptions.h.
| IntegrationMethod ov_msckf::StateOptions::integration_method = IntegrationMethod::RK4 |
What type of numerical integration is used during propagation.
Definition at line 44 of file StateOptions.h.
| int ov_msckf::StateOptions::max_aruco_features = 1024 |
Max number of estimated ARUCO features.
Definition at line 80 of file StateOptions.h.
| int ov_msckf::StateOptions::max_clone_size = 11 |
Max clone size of sliding window.
Definition at line 68 of file StateOptions.h.
| int ov_msckf::StateOptions::max_msckf_in_update = 1000 |
Max number of MSCKF features we will use at a given image timestep.
Definition at line 77 of file StateOptions.h.
| int ov_msckf::StateOptions::max_slam_features = 25 |
Max number of estimated SLAM features.
Definition at line 71 of file StateOptions.h.
| int ov_msckf::StateOptions::max_slam_in_update = 1000 |
Max number of SLAM features we allow to be included in a single EKF update.
Definition at line 74 of file StateOptions.h.
| int ov_msckf::StateOptions::num_cameras = 1 |
Number of distinct cameras that we will observe features in.
Definition at line 83 of file StateOptions.h.