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_ */