From fe6c0abdfaea4a7dde110d78e8074ccc1c812a7d Mon Sep 17 00:00:00 2001 From: jvallve <jvallve@iri.upc.edu> Date: Mon, 2 May 2022 10:09:36 +0200 Subject: [PATCH] added missing param for icp --- yaml/Demo/csm_inactive.yaml | 5 ++--- yaml/csm_inactive.yaml | 3 ++- yaml/csm_old.yaml | 3 ++- yaml/trajectory_analysys/parameters/csm.yaml | 1 + yaml/trajectory_analysys/parameters/csm_inactive.yaml | 3 ++- 5 files changed, 9 insertions(+), 6 deletions(-) diff --git a/yaml/Demo/csm_inactive.yaml b/yaml/Demo/csm_inactive.yaml index b5336a9..06f8131 100644 --- a/yaml/Demo/csm_inactive.yaml +++ b/yaml/Demo/csm_inactive.yaml @@ -42,6 +42,5 @@ sigma: 0.2 # Noise of the scan # COVARIANCE do_compute_covariance: true -cov_factor: 5 # Factor multiplying the cov output of csm - -cov_factor: 9999999999999999999999 +cov_factor: 1e10 # Factor multiplying the cov output of csm +cov_max_eigv_factor: 1 # Factor multiplying the direction of the max eigenvalue of the cov output of csm diff --git a/yaml/csm_inactive.yaml b/yaml/csm_inactive.yaml index 4ea6670..06f8131 100644 --- a/yaml/csm_inactive.yaml +++ b/yaml/csm_inactive.yaml @@ -42,4 +42,5 @@ sigma: 0.2 # Noise of the scan # COVARIANCE do_compute_covariance: true -cov_factor: 9999999999999999999999 +cov_factor: 1e10 # Factor multiplying the cov output of csm +cov_max_eigv_factor: 1 # Factor multiplying the direction of the max eigenvalue of the cov output of csm diff --git a/yaml/csm_old.yaml b/yaml/csm_old.yaml index 59f62f6..ccbe332 100644 --- a/yaml/csm_old.yaml +++ b/yaml/csm_old.yaml @@ -32,4 +32,5 @@ use_ml_weights: 0 use_sigma_weights: 0 -cov_factor: 1 +cov_factor: 1 +cov_max_eigv_factor: 1 diff --git a/yaml/trajectory_analysys/parameters/csm.yaml b/yaml/trajectory_analysys/parameters/csm.yaml index 3732d37..09f38e4 100644 --- a/yaml/trajectory_analysys/parameters/csm.yaml +++ b/yaml/trajectory_analysys/parameters/csm.yaml @@ -43,3 +43,4 @@ sigma: 0.2 # Noise of the scan # COVARIANCE do_compute_covariance: true cov_factor: 1 # Factor multiplying the cov output of csm +cov_max_eigv_factor: 1 # Factor multiplying the direction of the max eigenvalue of the cov output of csm diff --git a/yaml/trajectory_analysys/parameters/csm_inactive.yaml b/yaml/trajectory_analysys/parameters/csm_inactive.yaml index 4ea6670..06f8131 100644 --- a/yaml/trajectory_analysys/parameters/csm_inactive.yaml +++ b/yaml/trajectory_analysys/parameters/csm_inactive.yaml @@ -42,4 +42,5 @@ sigma: 0.2 # Noise of the scan # COVARIANCE do_compute_covariance: true -cov_factor: 9999999999999999999999 +cov_factor: 1e10 # Factor multiplying the cov output of csm +cov_max_eigv_factor: 1 # Factor multiplying the direction of the max eigenvalue of the cov output of csm -- GitLab