feat(ndt_scan_matcher): change from TP to NVTL for determination of initial position estimation results #7141
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Signed-off-by: RyuYamamoto <ryu.yamamoto@tier4.jp>
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Signed-off-by: RyuYamamoto <ryu.yamamoto@tier4.jp>
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Since it is desirable to use the same threshold criteria as when NDT is run every frame, this change seems fine.
It may be better to switch by referring to converged_param_type.
https://github.com/autowarefoundation/autoware.universe/blob/350e65040ea0b46024ea6c974bf7ec1b72cb27aa/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml#L71
I would like to know what the success rate of initial pose estimation is for a variety of data, but I don't think the tools are ready in time. I think this is a future work.
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #7141 +/- ##
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+ Coverage 14.84% 23.51% +8.67%
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Files 1999 54 -1945
Lines 139163 3074 -136089
Branches 43716 734 -42982
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- Hits 20661 723 -19938
+ Misses 95731 2290 -93441
+ Partials 22771 61 -22710
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…nitial position estimation results (autowarefoundation#7141) * feat(ndt_scan_matcher): change from TP to NVTL Signed-off-by: RyuYamamoto <ryu.yamamoto@tier4.jp> * fix(ndt_scan_matcher): fixed typo Signed-off-by: RyuYamamoto <ryu.yamamoto@tier4.jp> --------- Signed-off-by: RyuYamamoto <ryu.yamamoto@tier4.jp> Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
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…nitial position estimation results (#7141) * feat(ndt_scan_matcher): change from TP to NVTL Signed-off-by: RyuYamamoto <ryu.yamamoto@tier4.jp> * fix(ndt_scan_matcher): fixed typo Signed-off-by: RyuYamamoto <ryu.yamamoto@tier4.jp> --------- Signed-off-by: RyuYamamoto <ryu.yamamoto@tier4.jp>
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Description
Changed the score used to determine the maximum likelihood particle during initial position estimation within ndt_scan_matcher from TP to NVTL.
Tests performed
Run logging_simulator with sample rosbag to check that initial pose estimation is successful and works without problems.
Effects on system behavior
Not applicable.
Interface changes
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