- Add a CATKIN_IGNORE file in
src/image_mcl/ - Comment out
catkin_python_setup()insrc/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()insrc/lptm_ros/CMakeLists.txt catkin_make
- 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
- 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...
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