package xslam.vins.pose_graph.proto

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Used in: estimator.proto.EstimatorOptions

• double max_solver_time = 1

  optimization parameters

  max solver itration time (ms), to guarantee real time

• int32 max_num_iterations = 2

  max solver itrations, to guarantee real time

• double keyframe_parallax = 3

  keyframe selection threshold (pixel)

• int32 loop_closure = 4

  loop_closure

  start loop closure

• int32 load_previous_pose_graph = 5

  oad and reuse previous pose graph; load from 'pose_graph_save_path'

• int32 fast_relocalization = 6

  useful in real-time and large project