Struct LidarMirrorFOVReshaperCalib::optimization_params

• Defined in File lidar_mirror_fov_reshaper_calibration.hpp

Nested Relationships

This struct is a nested type of Class LidarMirrorFOVReshaperCalib.

Struct Documentation

struct optimization_params

Struct containing all parameters needed for the optimization.

Param src_cloud_vec:

[in] vector containing pointcloud

Param right_mirrored_pointclouds:

[in] vector containing pointclouds mirrored by right mirror

Param left_mirrored_pointclouds:

[in] vector containing pointclouds mirrored by left mirror

Param left_mirror_high_intensity_indices:

[in] vector containing indices of points with high intensity per left mirror cloud

Param right_mirror_high_intensity_indices:

[in] vector containing indices of points with high intensity per right mirror cloud

Param opt_constraints:

[in] pointer to vector containing constraints for optimization

Param opt_result:

[out] pointer to optimization result, used for evaluation

Public Members

std::vector<pcl::PointCloud<pcl::PointXYZI>> src_cloud_vec

std::vector<pcl::PointCloud<pcl::PointXYZI>> right_mirrored_pointclouds

std::vector<pcl::PointCloud<pcl::PointXYZI>> left_mirrored_pointclouds

std::vector<int> left_mirror_high_intensity_indices

std::vector<int> right_mirror_high_intensity_indices

std::vector<bool> *opt_constraints

optimization_result *opt_result