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...