From d513999d26812c17e9e885a4df9ad9e2d28408ef Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Thu, 31 Mar 2022 15:24:27 +0900 Subject: [PATCH] feat(ndt_scan_matcher): add nearest voxel transfromation probability param (#198) * feat(ndt_scan_matcher): add nearest voxel transfromation probability param Signed-off-by: YamatoAndo * rename likelihood Signed-off-by: YamatoAndo --- localization_launch/config/ndt_scan_matcher.param.yaml | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/localization_launch/config/ndt_scan_matcher.param.yaml b/localization_launch/config/ndt_scan_matcher.param.yaml index fd21436b3909b..f5b454a887625 100644 --- a/localization_launch/config/ndt_scan_matcher.param.yaml +++ b/localization_launch/config/ndt_scan_matcher.param.yaml @@ -23,9 +23,19 @@ # The number of iterations required to calculate alignment max_iterations: 30 + # Converged param type + # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD + # NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD is only available when NDTImplementType::OMP is selected + converged_param_type: 1 + + # If converged_param_type is 0 # Threshold for deciding whether to trust the estimation result converged_param_transform_probability: 3.0 + # If converged_param_type is 1 + # Threshold for deciding whether to trust the estimation result + converged_param_nearest_voxel_transformation_likelihood: 2.3 + # The number of particles to estimate initial pose initial_estimate_particles_num: 100