Struct Config::Map

• Defined in File config.hpp

Nested Relationships

This struct is a nested type of Struct Config.

Nested Types

• Struct Map::Covisibility

• Struct Covisibility::DistanceEdge

• Struct Covisibility::LoopEdge

• Struct Covisibility::OdometryEdge

• Struct Covisibility::ProjectionEdge

• Struct Map::Neighbors

• Struct Map::Representation

• Struct Map::Visibility

Struct Documentation

struct Map

Map and graph-optimization settings.

Public Members

struct slam_mer::settings::Config::Map::Representation _representation

struct slam_mer::settings::Config::Map::Visibility _visibility

struct slam_mer::settings::Config::Map::Neighbors _neighbors

struct slam_mer::settings::Config::Map::Covisibility _covisibility

struct Covisibility

Covisibility-graph and optimization settings.

Public Members

bool _useSimilarity

Enables similarity-based optimization (Sim(3)).

int _moduleFps

Target processing FPS for the module.

double _relinearizeThreshold

Threshold for factor relinearization.

int _relinearizeSkip

Frames to skip between checks.

double _rigidWindowClampWeight

Clamp weight for rigid-window edges.

utils::DescriptorModel::Type _descriptorModel

Descriptor fusion mode.

struct slam_mer::settings::Config::Map::Covisibility::ProjectionEdge _projectionEdge

struct slam_mer::settings::Config::Map::Covisibility::DistanceEdge _distanceEdge

struct slam_mer::settings::Config::Map::Covisibility::OdometryEdge _odometryEdge

struct slam_mer::settings::Config::Map::Covisibility::LoopEdge _loopEdge

struct DistanceEdge

3D distance-edge settings.

Public Members

double _sigma

Measurement sigma.

bool _robust

Enables robust loss.

modes::RobustLossType _loss

Robust loss function.

double _shape

Robust loss shape parameter.

struct LoopEdge

Loop-closure edge settings.

Public Members

double _weight

Relative weight for loop edges.

struct OdometryEdge

Relative odometry-edge settings.

Public Members

int _minimumMatches

Minimum matches for odometry factors.

double _sigmaRotation

Rotation sigma.

double _sigmaTranslation

Translation sigma.

double _sigmaScale

Scale sigma.

bool _robust

Enables robust loss.

modes::RobustLossType _loss

Robust loss function.

double _shape

Robust loss shape parameter.

struct ProjectionEdge

2D projection-edge settings.

Public Members

double _sigma

Measurement sigma.

bool _robust

Enables robust loss.

modes::RobustLossType _loss

Robust loss function.

double _shape

Robust loss shape parameter.

struct Neighbors

Spatial-neighborhood settings.

Public Members

size_t _pointsPerKeyframe

Maximum points sampled per keyframe.

double _distanceThreshold

Distance threshold for neighbors.

int _searchRadius

Neighborhood search radius.

struct Representation

Point-cloud representation settings.

Public Members

double _voxelHalfSize

Half-size of each voxel cell.

double _coarseHalfSize

Half-size for coarse map buckets.

double _scaleFactor

Global map scale factor.

struct Visibility

Point-visibility settings.

Public Members

double _iouThreshold

IoU threshold for visibility consistency.