ov_msckf::StateOptions struct

Struct which stores all our filter options.

Contents

Public functions

void print()
Nice print function of what parameters we have loaded.

Public variables

bool do_fej
Bool to determine whether or not to do first estimate Jacobians.
bool imu_avg
Bool to determine whether or not use imu message averaging.
bool use_rk4_integration
Bool to determine if we should use Rk4 imu integration.
bool do_calib_camera_pose
Bool to determine whether or not to calibrate imu-to-camera pose.
bool do_calib_camera_intrinsics
Bool to determine whether or not to calibrate camera intrinsics.
bool do_calib_camera_timeoffset
Bool to determine whether or not to calibrate camera to IMU time offset.
int max_clone_size
Max clone size of sliding window.
int max_slam_features
Max number of estimated SLAM features.
int max_slam_in_update
Max number of SLAM features we allow to be included in a single EKF update.
int max_msckf_in_update
Max number of MSCKF features we will use at a given image timestep.
int max_aruco_features
Max number of estimated ARUCO features.
int num_cameras
Number of cameras.
LandmarkRepresentation::Representation feat_rep_msckf
What representation our features are in (msckf features)
LandmarkRepresentation::Representation feat_rep_slam
What representation our features are in (slam features)
LandmarkRepresentation::Representation feat_rep_aruco
What representation our features are in (aruco tag features)