struct mola::CandidateSelectionParameters

Overview

Groups relocalization candidates into modes (candidates close to each other), to tell whether the best one is clearly better than any other distinct pose. See select_relocalization_candidate().

#include <relocalization.h>

struct CandidateSelectionParameters
{
    // fields

    double same_mode_max_distance = 1.0;
    double same_mode_max_yaw = mrpt::DEG2RAD(15.0);
    double min_quality_margin = 0.05;
};

Fields

double same_mode_max_distance = 1.0

Candidates closer than these belong to the same mode.

[m]

double same_mode_max_yaw = mrpt::DEG2RAD(15.0)

[rad]

double min_quality_margin = 0.05

The best mode must beat the second best one by at least this quality.