Struct ParticleClusterizerParam

• Defined in File cluster_based_estimation.hpp

Struct Documentation

struct ParticleClusterizerParam

Parameters used to construct a ParticleClusterizer instance.

Public Members

double linear_hash_resolution = 0.20

clustering algorithm linear resolution

double angular_hash_resolution = 0.524

clustering algorithm angular resolution

double weight_cap_percentile = 0.90

Cluster weight cap threshold.

This parameters is the upper percentile threshold used to cap the accumulated weight of the cells in the grid to flatten the top of the approximated density function and make the clustering algorithm more robust to estimation noise, by fusing together any adjacent peaks whose weight is above the threshold. The range of this parameter is 0.0 to 1.0. The 0.9 default places the threshold at approximately 0.5 standard deviation from the mean, which is halfway to the inflection of the normal distribution.