StateOptions struct
Struct which stores all our filter options.
Contents
- Reference
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_aruco_features
- Max number of estimated ARUCO features.
- int num_cameras
- Number of cameras.
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FeatureRepresentation::
Representation feat_representation - What representation our features are in.