Struct SlamConfig

Inheritance Relationships

Derived Type

Struct Documentation

struct SlamConfig

Common configuration parameters for SlamEngine implementations.

Subclassed by ouster::sdk::mapping::LIOSlamConfig

Public Members

double min_range = 0.0

Minimum range of sensor measurements to be considered (meters)

double max_range = 150.0

Maximum range of sensor measurements to be considered (meters)

double voxel_size = 0.0

Size of the voxel grid for downsampling.

int max_iterations = 500

Maximum number of ICP registration iterations.

core::Matrix4dR initial_pose = core::Matrix4dR::Identity()

Initial pose of the sensor.

std::string deskew_method = "auto"

Deskewing method to be applied.