Struct KeyframePointCloudMap::TCreationOptions

Nested Relationships

This struct is a nested type of Class KeyframePointCloudMap.

Inheritance Relationships

Base Type

  • public mrpt::config::CLoadableOptions

Struct Documentation

struct TCreationOptions : public mrpt::config::CLoadableOptions

Public Functions

TCreationOptions() = default
void loadFromConfigFile(const mrpt::config::CConfigFileBase &c, const std::string &s) override
void dumpToTextStream(std::ostream &out) const override
void writeToStream(mrpt::serialization::CArchive &out) const
void readFromStream(mrpt::serialization::CArchive &in)

Public Members

uint32_t max_search_keyframes = 3

Maximum number of key-frames to search for NN.

uint32_t k_correspondences_for_cov = 20
double rotation_distance_weight = 2.0

Weight converting angular distance [rad] to equivalent linear distance [m] for keyframe proximity ranking. Higher values favor angularly-close (similar orientation) frames.

uint32_t num_diverse_keyframes = 1

Number of keyframe slots (out of max_search_keyframes) reserved for angularly diverse and/or more distant keyframes. Must be < max_search_keyframes.