StateOptions struct
Struct which stores all our filter options.
Contents
- Reference
Public types
- enum IntegrationMethod { DISCRETE, RK4, ANALYTICAL }
- Numerical integration methods.
- enum ImuModel { KALIBR, RPNG }
- IMU intrinsic models.
Public functions
-
void print(const std::shared_ptr<ov_core::
YamlParser>& parser = nullptr) - 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.
- IntegrationMethod integration_method
- What type of numerical integration is used during propagation.
- 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.
- bool do_calib_imu_intrinsics
- Bool to determine whether or not to calibrate the IMU intrinsics.
- bool do_calib_imu_g_sensitivity
- Bool to determine whether or not to calibrate the Gravity sensitivity.
- ImuModel imu_model
- What model our IMU intrinsics are.
- 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 distinct cameras that we will observe features in.
-
ov_type::
LandmarkRepresentation:: Representation feat_rep_msckf - What representation our features are in (msckf features)
-
ov_type::
LandmarkRepresentation:: Representation feat_rep_slam - What representation our features are in (slam features)
-
ov_type::
LandmarkRepresentation:: Representation feat_rep_aruco - What representation our features are in (aruco tag features)