fix(ndt_scan_matcher): fix the covariance calculation #10252
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Signed-off-by: Anh Nguyen <anh.nguyen.2@tier4.jp>
anhnv3991
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KYabuuchi,
Motsu-san,
RyuYamamoto,
SakodaShintaro,
TaikiYamada4 and
YamatoAndo
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #10252 +/- ##
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Coverage 26.24% 26.24%
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Files 1378 1378
Lines 107445 107456 +11
Branches 41428 41429 +1
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+ Hits 28194 28201 +7
- Misses 76433 76436 +3
- Partials 2818 2819 +1
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Description
When building a voxel grid for NDT scan matching, the covariance of points in a voxel is computed as follow (the covariances of (x, x), (x, z), (y, z) are similar)
which can be shortened to
However, the formula above is not correct. The formula for the unbiased estimation of the covariance of a voxel should be
This PR replace the incorrect formula by the correct one.
Related links
The PCL library ver 1.15.0-dev (line 326)
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.