Struct LandmarkWellConstrainedSettings

Struct Documentation

struct vi_map::LandmarkWellConstrainedSettings

Public Functions

LandmarkWellConstrainedSettings()

Public Members

double max_distance_to_closest_observer

Maximum distance from closest observer for a landmark to be well constrained [m].

double min_distance_to_closest_observer

Minimum distance from closest observer for a landmark to be well constrained [m].

double min_observation_angle_deg

Minimum angle disparity of observers for a landmark to be well constrained [deg].

size_t min_observers

Minimum number of observers for a landmark to be well constrained.