RecursiveConfig

visual_odometry_rs::core::candidates::dso

Struct RecursiveConfig 

Source 
pub struct RecursiveConfig {
    pub nb_iterations_left: usize,
    pub low_thresh: Float,
    pub high_thresh: Float,
    pub random_thresh: Float,
}
Expand description

Configuration of the recursive nature of candidates selection. If the number of points obtained after one iteration is not within given bounds, the algorithm adapts the base block size and re-iterates.

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§nb_iterations_left: usize

Max number of iterations left.

§low_thresh: Float

Low percentage threshold of target number of points.

§high_thresh: Float

High percentage threshold of target number of points.

§random_thresh: Float

Threshold such that if we have random_thresh < points_ratio < high_thresh, we randomly sample points to have approximatel the desired target number of candidate points.

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