Struct CObservation2DRangeScanWithUncertainty::TEvalParams

Defined in File CObservation2DRangeScanWithUncertainty.h

Nested Relationships

This struct is a nested type of Class CObservation2DRangeScanWithUncertainty.

Struct Documentation

struct TEvalParams

Public Functions

TEvalParams()

Public Members

double prob_outliers = {0.5}: (Default: 0.5) Probability of having an outlier (dynamic obstacles, not mapped) in each scan ray.

double prob_lost_ray = {0.3}: (Default: 0.3) Conditional probability: how many of the “no return” ranges come from a failure to detect a real obstacle.

double max_prediction_std_dev = {1.0}: (Default: 1.0m) Maximum std deviation of overall uncertainty for a range prediction to be considered as reliable for evaluation

double min_ray_log_lik = {-20.0}: (Default: -20) Minimum log-likelihood of a single ray