struct mola::PointTimeOutlierFilter::Parameters

Overview

#include <PointTimeOutlierFilter.h>

struct Parameters
{
    // fields

    bool enabled = true;
    uint32_t window_length = 50;
    uint32_t min_window_length = 10;
    double margin_ratio = 0.5;
    double min_margin = 0.01;

    // methods

    void validate() const;
};

Fields

uint32_t window_length = 50

Number of recent scans whose time ranges define the usual one.

uint32_t min_window_length = 10

Nothing is removed until the window holds this many scans.

double margin_ratio = 0.5

Tolerance beyond the usual [min, max], as a fraction of its width.

double min_margin = 0.01

Lower bound of that tolerance [s] (the sensor period is another one).

Methods

void validate() const

Throws if the values are inconsistent (e.g. a window shorter than its warm-up, which would disable the filter, or negative margins).