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LPTM_ROS

Installation Guide

  • Add a CATKIN_IGNORE file in src/image_mcl/
  • Comment out catkin_python_setup() in src/lptm_ros/CMakeLists.txt
  • catkin_make
  • Delete CATKIN_IGNORE file in src/image_mcl/
  • Add a CATKIN_IGNORE file in src/lptm_ros/
  • Uncomment catkin_python_setup() in src/lptm_ros/CMakeLists.txt
  • catkin_make

Some Tips on tuning the MCL-DPCN on different dataset:

  • Basic check:
    • local image size
    • global image size
    • resolution
    • rotation and ratio
    • the start point of the bag odom
    • the start point of the particle center
      • note that the two start point above could be different based on the start time of the rosbag
    • the orientation of the odometry
    • the validity of the local map (better be a complete photo and not the start of the bag)
  • Advance:
    • DONNOT add the "255 - " in the weight choosing operation because it is not correct
    • check the max weight and the min weight given by DPCN, and tune the parametres to contrast them
    • make the the weight is in a reasonable range and that the wx+b does not make them nagative

Future works:

  • make all this tunable paprams into one ymal file so that the profile could be easily loaded
  • make use of the DPCN-Global to automatically give the start point
  • more to be added...