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#2 explanation [OC-3001] #525

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#2 explanation [OC-3001] #525

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7 changes: 7 additions & 0 deletions include/albatross/src/models/ransac.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,11 @@ inline bool ransac_success(const ransac_return_code_t &rc) {

template <typename GroupKey> struct RansacIteration {
std::vector<GroupKey> candidates;

// station_name => chi^2 scoring value (use to rank outliers)
// preserve scoring information until we're outside of individual groups
// Associate the chi^2 scoring value with all outliers until we are done with per
// constellation, per station
std::map<GroupKey, double> inliers;
std::map<GroupKey, double> outliers;
double consensus_metric_value;
Expand Down Expand Up @@ -122,6 +127,8 @@ template <typename GroupKey> struct RansacOutput {
using key_type = GroupKey;

ransac_return_code_t return_code;

// Best candidate.. use classifications to choose inliers and outliers
RansacIteration<GroupKey> best;
std::vector<RansacIteration<GroupKey>> iterations;

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