From 28d34bc44e7868e67dbf1025d0adfa5ddff8d770 Mon Sep 17 00:00:00 2001 From: Alejandro Lopez Gestoso <alopez@iri.upc.edu> Date: Wed, 7 Jul 2021 17:17:43 +0200 Subject: [PATCH] Added orientation filter aprameters --- config/adc_common/landmarks_loc/amcl_mapping.yaml | 2 ++ config/adc_common/landmarks_loc/landmarks_calibration.yaml | 2 ++ config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml | 2 ++ config/adc_common/landmarks_loc/localization.yaml | 2 ++ config/adc_common/landmarks_loc/slam_mapping.yaml | 2 ++ 5 files changed, 10 insertions(+) diff --git a/config/adc_common/landmarks_loc/amcl_mapping.yaml b/config/adc_common/landmarks_loc/amcl_mapping.yaml index 6a7b8df..bec1dc6 100644 --- a/config/adc_common/landmarks_loc/amcl_mapping.yaml +++ b/config/adc_common/landmarks_loc/amcl_mapping.yaml @@ -29,6 +29,8 @@ problem_frame_window: -1 landmarks_candidates_filter_en: True landmark_mahalanobis_dist: 3.5 landmarks_min_detections: 4 +landmarks_filter_orientation_en: True +landmarks_orientation_th: 0.4 sensor_sigma_r: 0.2 sensor_sigma_th: 0.3 diff --git a/config/adc_common/landmarks_loc/landmarks_calibration.yaml b/config/adc_common/landmarks_loc/landmarks_calibration.yaml index 60161d6..32048d0 100644 --- a/config/adc_common/landmarks_loc/landmarks_calibration.yaml +++ b/config/adc_common/landmarks_loc/landmarks_calibration.yaml @@ -29,6 +29,8 @@ problem_frame_window: -1 landmarks_candidates_filter_en: True landmark_mahalanobis_dist: 3.5 landmarks_min_detections: 4 +landmarks_filter_orientation_en: True +landmarks_orientation_th: 0.4 sensor_sigma_r: 0.2 sensor_sigma_th: 0.3 diff --git a/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml b/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml index 31a37af..5ea41cf 100644 --- a/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml +++ b/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml @@ -29,6 +29,8 @@ problem_frame_window: -1 landmarks_candidates_filter_en: True landmark_mahalanobis_dist: 3.5 landmarks_min_detections: 4 +landmarks_filter_orientation_en: True +landmarks_orientation_th: 0.4 sensor_sigma_r: 0.2 sensor_sigma_th: 0.3 diff --git a/config/adc_common/landmarks_loc/localization.yaml b/config/adc_common/landmarks_loc/localization.yaml index 3113674..fa3e1e5 100644 --- a/config/adc_common/landmarks_loc/localization.yaml +++ b/config/adc_common/landmarks_loc/localization.yaml @@ -29,6 +29,8 @@ problem_frame_window: 60 landmarks_candidates_filter_en: True landmark_mahalanobis_dist: 3.5 landmarks_min_detections: 4 +landmarks_filter_orientation_en: True +landmarks_orientation_th: 0.4 sensor_sigma_r: 0.2 sensor_sigma_th: 0.3 diff --git a/config/adc_common/landmarks_loc/slam_mapping.yaml b/config/adc_common/landmarks_loc/slam_mapping.yaml index bbf1e44..fdd87da 100644 --- a/config/adc_common/landmarks_loc/slam_mapping.yaml +++ b/config/adc_common/landmarks_loc/slam_mapping.yaml @@ -29,6 +29,8 @@ problem_frame_window: -1 landmarks_candidates_filter_en: True landmark_mahalanobis_dist: 3.5 landmarks_min_detections: 4 +landmarks_filter_orientation_en: True +landmarks_orientation_th: 0.4 sensor_sigma_r: 0.2 sensor_sigma_th: 0.3 -- GitLab