struct mola::CandidateSelection

Overview

#include <relocalization.h>

struct CandidateSelection
{
    // fields

    std::optional<RelocalizationICP_SE2::Candidate> best;
    std::optional<RelocalizationICP_SE2::Candidate> runner_up;
    size_t mode_count = 0;
    bool unambiguous = false;
};

Fields

std::optional<RelocalizationICP_SE2::Candidate> runner_up

Best candidate of any other mode, if any.

size_t mode_count = 0

Number of distinct modes found.

bool unambiguous = false

True if there is a best candidate, and no other mode is close to it in quality