Skip to content
This repository has been archived by the owner on Mar 27, 2023. It is now read-only.

feat(ndt_scan_matcher): add nearest voxel transfromation probability param #198

Merged
merged 2 commits into from
Mar 31, 2022
Merged

feat(ndt_scan_matcher): add nearest voxel transfromation probability param #198

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
7dbc8a1
feat(ndt_scan_matcher): add nearest voxel transfromation probability …
YamatoAndo Feb 8, 2022
242dcf7
rename likelihood
YamatoAndo Mar 30, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 10 additions & 0 deletions localization_launch/config/ndt_scan_matcher.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand Down