work in progress

include/kf_based_terrain_analysis.h

@@ -33,6 +33,9 @@ private:
                             const pcl::PointXYZRGBNormal point_in_sensor_frame, float &predicted_std_dev,
                             bool &observation_z_is_below_prediction);
 
+  float mahalanobisDistance(const pcl::PointXYZRGBNormal reference_in_sensor_frame,
+                            const pcl::PointXYZRGBNormal point_in_sensor_frame);
+
   float euclideanDistance(const pcl::PointXYZRGBNormal reference_in_sensor_frame,
                           const pcl::PointXYZRGBNormal point_in_sensor_frame);
 

include/structs_definitions.h

@@ -147,6 +147,7 @@ struct FilteringConfiguration
 
   int number_of_references_used_for_labelling;
   float max_pred_std_dev_for_labelling;
+  float score_threshold;
 
   bool classify_not_labeled_points_as_obstacles;
   bool discard_not_connected_references_for_labelling;