covariance_covariance_estimation.json

{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "title": "Parameters for Ndt Scan Matcher Node",
  "definitions": {
    "covariance_estimation": {
      "type": "object",
      "properties": {
        "covariance_estimation_type": {
          "type": "number",
          "description": "2D Real-time Converged estimation type. 0=FIXED_VALUE, 1=LAPLACE_APPROXIMATION, 2=MULTI_NDT, 3=MULTI_NDT_SCORE (FIXED_VALUE mode does not perform 2D Real-time Converged estimation)",
          "default": 0,
          "minimum": 0,
          "maximum": 3
        },
        "initial_pose_offset_model_x": {
          "type": "array",
          "description": "Offset arrangement in covariance estimation [m]. initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements.",
          "default": [0.0, 0.0, 0.5, -0.5, 1.0, -1.0]
        },
        "initial_pose_offset_model_y": {
          "type": "array",
          "description": "Offset arrangement in covariance estimation [m]. initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements.",
          "default": [0.5, -0.5, 0.0, 0.0, 0.0, 0.0]
        },
        "temperature": {
          "type": "number",
          "description": "In MULTI_NDT_SCORE, the parameter that adjusts the estimated 2D covariance",
          "default": 0.05,
          "exclusiveMinimum": 0
        },
        "scale_factor": {
          "type": "number",
          "description": "Scale value for adjusting the estimated covariance by a constant multiplication",
          "default": 1.0,
          "exclusiveMinimum": 0
        }
      },

      "required": [
        "covariance_estimation_type",
        "initial_pose_offset_model_x",
        "initial_pose_offset_model_y",
        "temperature",
        "scale_factor"
      ],
      "additionalProperties": false
    }
  }
}