msceqf::StateOptions Struct Reference

#include <msceqf_options.hpp>

Public Attributes
Matrix9	D_init_cov_
	Initial covariance of the D element of the state.
Matrix6	delta_init_cov_
	Initial covariance of the delta element of the state.
Matrix6	E_init_cov_
	Initial covariance of the E element of the state.
Matrix4	L_init_cov_
	Initial covariance of the L element of the state.
SE3	initial_camera_extrinsics_
	Initial camera extrinsics.
In	initial_camera_intrinsics_
	Initial camera intrinsics.
bool	enable_camera_intrinsics_calibration_
	Boolean to enable intinsic camera calibration.
fp	gravity_
	The magnitude of the gravity vector in m/s^2.
uint	num_clones_
	The maximum number of stochastic clones.
uint	num_persistent_features_
	The maximum number of persistent (SLAM) features.

Detailed Description

Note

The camera extrinsics are interpreted as IC_S, thus IC_S transofrm vectors in camera frame to vectors in imu frame according to the following equation: I_x = IC_S * C_x

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The documentation for this struct was generated from the following file:

• include/msceqf/options/msceqf_options.hpp