feat: add tools to collect TP values of PCD map segments #211
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Signed-off-by: Anh Nguyen <[email protected]>
Signed-off-by: Anh Nguyen <[email protected]>
Signed-off-by: Anh Nguyen <[email protected]>
Signed-off-by: Anh Nguyen <[email protected]>
Signed-off-by: Anh Nguyen <[email protected]>
Signed-off-by: Anh Nguyen <[email protected]>
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anhnv3991
requested review from
YamatoAndo,
SakodaShintaro,
Motsu-san and
TaikiYamada4
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| # Enable support for C++17 | ||
| if (${CMAKE_VERSION} VERSION_LESS "3.1.0") | ||
| set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17") | ||
| else () | ||
| set(CMAKE_CXX_STANDARD 17) | ||
| endif () |
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I think autoware_cmake uses C++17 by default.
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And since the main scripts are Python, is it needed?
| @@ -0,0 +1,48 @@ | |||
| # autoware_pointcloud_merger | |||
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autoware_pointcloud_merger?
| <name>autoware_tp_manager</name> | ||
| <version>0.1.0</version> | ||
| <description>A package for checking TP scores of NDT matching</description> | ||
| <maintainer email="[email protected]">Anh Nguyen</maintainer> |
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It is convenient to add some Localization&Mapping members as maintainers.
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| { | |||
| "$schema": "http://json-schema.org/draft-07/schema#", | |||
| "title": "Parameters for autoware point cloud merger node", | |||
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point cloud merger?
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Description
How was this PR tested?
Notes for reviewers
This is a baseline implementation and the tools are still prototypes. TPs are collected by a super simple manner - segments will keep the max TP near them. We can compute the expected TP of a pose by querying the segments near the pose (search radius 20m), and averaging the segments' TPs. In general, this is not correct, as the scan may not be able to reach some segments. This should be fixed in future.
Effects on system behavior
None.