Struct Localization::KeyframeCreation

• Defined in File config.hpp

Nested Relationships

This struct is a nested type of Struct Config::Localization.

Struct Documentation

struct KeyframeCreation

Keyframe-creation policy settings.

Public Members

int _framesInBetweenKeyframes

Minimum frames between keyframes.

bool _checkMinimumTrackedPoints

Enables tracked-point check.

int _minimumTrackedPoints

Minimum tracked points threshold.

bool _checkImageCoverage

Enables image-coverage check.

double _imageCoverageThreshold

Minimum image coverage ratio.

int _imageCoverageGridRows

Coverage grid row count.

int _imageCoverageGridCols

Coverage grid column count.

int _imageCoverageMinPointsPerGrid

Min points per grid cell.

int _imageCoverageMinGridsFilled

Min valid grid cells.

bool _checkKlDivergence

Enables KL-divergence check.

double _klDivergenceThreshold

Maximum KL divergence.