Struct SMGeoReferencingParams

Defined in File simplemap_georeference.h

Struct Documentation

struct SMGeoReferencingParams

Public Functions

SMGeoReferencingParams() = default

Public Members

std::optional<mrpt::topography::TGeodeticCoords> geodeticReference: If provided, this will be the coordinates of the ENU frame origin. Otherwise (default), the first GNSS entry will become the reference.

AddGNSSFactorParams fgParams

bool useIMUGravityAlignment = true: If true, use IMU acceleration data found in the simplemap to add gravity-alignment constraints (MeasuredGravityFactor) to the optimization. This helps in cases with poor Z data in GPS.

AddIMUGravityFactorParams imuGravityParams

mrpt::system::COutputLogger *logger = nullptr